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All sourcesNASA NTRSDOE OSTI
DOE OSTI2024

NSTX-U liquid metal core-edge facility (LMCE)

NSTX-U/LMCE will provide a unique and world-leading research facility to address the primary challenge to delivering economic and timely magnetic fusion energy, namely the need to develop a power and particle exhaust and first-wall system that can withstand very high edge heat fluxes, maximize energy confinement, and avoid the production of large masses of solid eroded first-wall material. The NSTX-U/LMCE facility will assess the ability of liquid metals (LMs) – especially liquid lithium – to provide a new boundary condition for magnetic fusion systems, to extend the lifetime of the plasma facing components (PFCs) and improve core plasma confinement. Such capability is needed to establish the basis for next-step fusion facilities including fusion pilot plants, and to maintain U.S. world leadership in core-edge integration research. NSTX-U/LMCE will leverage the ability to generate very high divertor perpendicular heat flux q⊥ ~ 100MW/m 2 , extensive diagnostics, and liquid-metal-applicable infrastructure of NSTX-U. NSTX-U/LMCE will provide access to a high-confinement plasma core with majority self-driven plasma current, the flexibility to test a range of liquid metal divertor concepts, access to a range of separatrix collisionalities (from high to very low), and the ability to controllably vary the first-wall temperature to vary the plasma- wall interaction physics on liquid lithium components. Further, NSTX-U/LMCE will utilize more reactor-relevant high-Z refractory-metal PFC substrates. With these capabilities the NSTX-U/LMCE facility will explore the full continuum of core-edge solutions ranging from high core radiated power, to conditions with radiative losses concentrated in the scrape-off layer (SOL), and ultimately low recycling conditions. The low collisionality SOL that may be accessible in the low recycling regime is relatively unexplored and will require a kinetic treatment of the edge, which can be addressed theoretically, and with experiments in LTX-β. Additional smaller-scale preparatory R&D facilities will be required to reduce the risk of premature technical/engineering failure of liquid metal systems implemented in NSTX-U. The NSTX-U/LMCE facility aligns very well with recommendations in the FESAC Long-Range Plan and NASEM Pilot Plant reports and the Bold Decadal Vision, will be unique in the world program throughout the next decade, and is garnering private company interest in utilizing NSTX-U/LMCE for development of LM PFCs.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2024

Hazards and Probabilistic Risk Assessments of Advanced Nuclear Reactors Coupled with Industrial Facilities

This report provides a roadmap and tool kit for site specific risk assessments across a broad range of industrial customers co-located with advanced nuclear power plants (ANPP) that are not currently built and operating in the U.S. This report builds upon the body of work sponsored by the Department of Energy (DOE) Integrated Energy Systems Pathway that has produced industrial requirements studies and techno-economic assessments on the topics of feasibility of ANPP supported industrial processes. This report also leverages the DOE Light Water Reactor Sustainability (LWRS) program that has presented hazards assessment and generic probabilistic risk assessments (PRAs) for the addition of a heat extraction system (HES) to light-water reactors (LWRs) co-located with hydrogen production facilities. Many of the hazard assessments and risk assessments performed for the LWRS report are agnostic to whether the nuclear reactor is an ANPP or were adapted to the ANPP focus. The report performs hazards assessments to include industrial facilities: an oil refinery, a methanol plant, a synthetic fuel (synfuel) plant, the production of synthetic gas (syngas) as part of the methanol and synfuel plants, wood pulp and paper mills, and hydrogen production. Hydrogen production facilities are assessed in depth through prior reports in the LWRS program and the results are leveraged in this report. All these facilities are specified through industrial process and requirements research performed by national laboratories, universities, and interaction with industry. Many of the processes used in this report are pre-conceptual designs to use for decarbonization of the current technology facilities. A process of failure modes and effects analysis (what can go wrong) and accidentology (what has historically gone wrong) was used to determine the hazards presented to the nuclear power plant by the addition of the HES and the industrial customer. Chemical properties of feedstocks and products are summarized as part of the hazards assessment. Example analysis procedures are provided for each of the hazard types identified. These deterministic analyses can be used to assess adherence to licensing criteria. They can also be used to meet other safety goals like protection of the public, workers, or industrial facility equipment. A modular high temperature gas-cooled reactor (MHTGR) PRA only existing on paper was modeled and verified in modern PRA software. This will provide a tool for representative ANPP probabilistic analyses for future research.

10 SYNTHETIC FUELS↗
NASA NTRS2018

NASA Plum Brook Station In-Space Propulsion Facility Test Stand Characterization Hot Fire Test

A test facility modification to enable small scale altitude propulsion testing at the NASA Glenn Research Center's In-Space Propulsion (ISP) Facility was verified with a hot fire test campaign. As the facility's primary steam supply system undergoes refurbishment, the alternate facility configuration, known as the "vacuum accumulator" mode, would enable rocket engine testing up to 10,000 lbf thrust. The NASA Johnson Space Center developed the vehicle for the verification test campaign: the Integrated Cryogenic Propulsion Test Article (ICPTA). Constructed primarily from assets of the former Morpheus Project, the ICPTA provided an integrated liquid oxygen (LOX) / liquid methane (LCH4) propulsion system including a 2,800 lbf thrust main engine. The ISP Facility's vacuum accumulator configuration leveraged the large test volume of the facility and a diffuser insert to maintain altitude conditions. During hot fire, the ICPTA main engine "started" the diffuser insert constructed for the test campaign. As a result, the test chamber upstream of the diffuser insert remained at altitude conditions throughout the hot fire. Upon engine shut down, a backflow deflector mitigated blow back into the test chamber by restricting the mass flow and redirecting it away from the test article. The test campaign successfully characterized the performance of the vacuum accumulator configuration. In addition, it provided an opportunity to collect data for an integrated LOX / LCH4 propulsion system in an altitude and thermal vacuum environment.

Rocket Engine Testing↗
NASA NTRSDate not supplied

A Preliminary Study of Inter-Facility LWC Differences in Appendix C and Supercooled Large Droplet Conditions due to Calibration Instruments

The simulation of clouds containing Supercooled Large Droplets has received increasing attention due to the introduction of Appendix O and future associated requirements for means of compliance. Supercooled Large Droplet conditions can cover four orders of magnitude in drop sizes, imposing a larger instrument measurement challenge than for Appendix C conditions. Wind tunnel facilities have adopted different instrumentation for liquid water content measurement, with fundamentally different principles of operation. In order to explore the comparability of the different instruments used for Appendix C and SLD measurement, and its impact on confidence in measurements used for means of compliance, a project was established to conduct a series of dedicated tests at three wind tunnel facilities. To date, liquid water content measurements have been completed using a Multi-Element sensor as the common instrument at two of the facilities. The data have provided preliminary information suggesting that substantial inter-facility differences likely exist in liquid water content estimates in Supercooled Large Droplet conditions that appear to be largely attributable to the choice of calibration instruments. These results are dependent on the assumption that the Multi-Element probe would produce equivalent measurements at the two facilities if the liquid water content were the same, regardless of other environmental differences that may exist between the two facilities. Planned further testing with other liquid water content measurement techniques may provide further information to confirm or refute the results of this study.

aircraft icing↗
NASA NTRSDate not supplied

Predicting contamination accumulation in facilities with limited data

"In preparation for the James Webb Space Telescope (JWST) launch at Centre Spatial Guyanias (CSG) in French Guiana, particulate contamination accumulation predictions were necessary for each facility in which the hardware would be exposed because the Telescope would be uncovered in each of the facilities and had strict particulate requirements. These included facilities for final integration and testing, fueling, transportation and encapsulation. Minimal heritage data existed from CSG and previous launch campaigns to use as a basis for contamination predictions. Data from the Automatic Transfer Vehicle and Herschel & Planck launch campaigns were used in conjunction with facility monitoring data provided by ESA and data collected during JWST working group visits to CSG. These campaigns were conducted at varying cleanliness levels that were typically less stringent than JWST requirements. Each facility was evaluated using the data provided and likely performance improvement with the addition of High Efficiency Particulate Air filter (HEPA) banks operating when possible. Once the launch campaign was completed, the predicted fallout was compared with actual data collected throughout the campaign. Based on the actual measurements, JWST’s primary and secondary mirrors are likely much cleaner than was expected with the predicted fallout in each facility. "

James Webb Space Telescope, contamination, cleanro↗
NASA NTRSDate not supplied

Capability Improvements at Marshall Space Flight Center's X-Ray and Cryogenic Facility

The X-Ray & Cryogenic Facility (XRCF) at Marshall Space Flight Center is the world’s largest x-ray optic calibration facility and NASA’s premier cryogenic optical test facility. Built specifically to calibrate the Chandra telescope, the facility contributed to several other x-ray missions until 2005 when it became dedicated to normal incidence optical testing at cryogenic temperatures. Recently the facility’s x-ray test capability has been returned to service and updated. New beam monitors, focal plane detectors, and test article and instrument positioning systems have been added. The x-ray data acquisition system has been updated. A real-time position monitoring metrology system is being developed that will enable calibration of large diameter optics via partial illumination in a diverging beam. The newly expanded x-ray test capabilities of the facility will be discussed.

XRCF↗
DOE OSTI2021

Nuclear Deactivation and Downgrade of Enriched Uranium Facilities at the Y-12 National Security Complex

Buildings 9206 and 9212 at the Y-12 National Security Complex are both Hazard Category 2 nuclear facilities from the Manhattan Project era that supported various missions over the decades, including the processing of enriched uranium. The production mission for Building 9206 ended in the 1990s, while Building 9212 is still an active production facility. The disposition process for contaminated excess facilities is generally described in the U.S. Department of Energy (DOE) Guide DOE O 430.1A, Life Cycle Asset Management, which provides guidance on facility surveillance and maintenance, deactivation, decommissioning, and transition in supplemental guides DOE G 430.1-2 through 430.1-5. Historically, production facilities similar to Buildings 9206 and 9212 have not always been cleaned out and deactivated prior to being excessed, which significantly complicates the decommissioning phase. Many legacy facilities were shut down before the formal DOE guidance was established. This paper presents the practical application and implementation of the DOE guidance for the nuclear deactivation of Buildings 9206 and 9212, and summarizes the lessons learned for application across the DOE enterprise.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2021

Nuclear Deactivation and Downgrade of Enriched Uranium Facilities at the Y-12 National Security Complex

Buildings 9206 and 9212 at the Y-12 National Security Complex are both Hazard Category 2 nuclear facilities from the Manhattan Project era that supported various missions over the decades, including the processing of enriched uranium. The production mission for Building 9206 ended in the 1990s, while Building 9212 is still an active production facility. The disposition process for contaminated excess facilities is generally described in the U.S. Department of Energy (DOE) Guide DOE O 430.1A, Life Cycle Asset Management, which provides guidance on facility surveillance and maintenance, deactivation, decommissioning, and transition in supplemental guides DOE G 430.1-2 through 430.1-5. Historically, production facilities similar to Buildings 9206 and 9212 have not always been cleaned out and deactivated prior to being excessed, which significantly complicates the decommissioning phase. Many legacy facilities were shut down before the formal DOE guidance was established. This paper presents the practical application and implementation of the DOE guidance for the nuclear deactivation of Buildings 9206 and 9212, and summarizes the lessons learned for application across the DOE enterprise.

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DOE OSTI2023

Non-Nuclear Test Facility Development to Support Verification and Validation Needs

This study focuses on developing a non-nuclear test facility to help meet the verification and validation (V&V) requirements of a water-cooled small modular reactor (SMR) system. The scaling analysis necessary for reactor system experimentation and assessment model V&V considers various reactor system accident scenarios such as main steam line break (MSLB), steam generator tube rupture (SGTR), and containment condensation and heat transfer. The goal is to identify key physics based phenomena of interest (POI), specific figures of merit (FOMs), and the state of knowledge (SOK) by employing phenomena identification and ranking table (PIRT) studies. Important physics phenomena such as heat transfer, fluid dynamics, structural integrity, and material selection must be addressed when scaling a thermal-hydraulics system. Alongside these considerations, modifications to the facility may be needed to align the scaled system with the available footprint (height and space) of the facility. These modifications may include infrastructure upgrades, changes to the piping layout, implementation of safety measures, and installation of new instrumentation and control systems. The test facility aims to provide a scaled-down version of prototypic facilities for comprehensive V&V activities by overcoming these challenges and making the necessary modifications. This approach minimizes scaling distortion, simulates prototypic plant conditions, and accurately models accident event progressions. Thus, the facility will be capable of adequately modeling a scaled SMR system to support the design, development and licensing needs.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2017

Recent Developments in the United Kingdom Geological Disposal Facility Programme - 17558

The United Kingdom Government remains committed to the policy of geological disposal. All major nuclear nations are actively pursuing geological disposal. It is internationally recognised that geological disposal represents the safest and most sustainable option as the end point of the management of high level waste and spent fuel considered as waste. Other countries that have also decided on a policy of geological disposal include Canada, Finland, France, Switzerland, Sweden and the United States of America. The United Kingdom Government continues to favour an approach to siting a Geological Disposal Facility that is based on the willingness of local communities to participate in the siting process. Construction and operation of a Geological Disposal Facility will be a multi-billion pound project that will provide skilled employment for hundreds of people over many decades. It will contribute greatly to the local economy and wider socio-economic framework. There are also likely to be spin-off industry benefits, infrastructure investments, benefits to local education or academic resources, and positive impacts on local service industries that support the facility and its workforce. It is also likely to involve major investments in local transport facilities and other infrastructure, which would remain after the facility had been closed. The United Kingdom Government published a renewed process for siting a Geological Disposal Facility in 2014 - the Implementing Geological Disposal White Paper. This paper discusses the status of activities in the 2014 White Paper that have been accomplished or are underway through to 2016. (authors)

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DOE OSTI2015

Characterization of a contaminated facility and associated soils in support of D and D and subsequent soil remediation - 15292

Before starting any D and D field work at a United States Department of Energy (DOE) facility such as the Savannah River Site (SRS), it is recommended that a complete review and understanding of the full nature and extent of any contamination located in or previously associated with that facility is known. An integral aspect of this review and research entails a complete characterization of that facility, including, but not limited to, Toxic Substances Control Act (TSCA) limits for Polychlorinated Biphenyl (PCB), radiological, Resource Conservation and Recovery Act of 1976 (RCRA) and other hazardous chemicals, etc. A thorough characterization of a facility and its underlying soils supports: - establishment of safe working conditions to protect human health and environment - Deactivation and Decommissioning (D and D) methodology - cost estimates to support future budget planning for D and D and soil cleanup A prime example of this is documented in the characterization of the 690-N, Process Heat Exchanger Repair Facility that had a history of PCB and radioactive contamination. Characterization of 690-N included the sampling and analysis of concrete and underlying soils for radiological, PCB and hazardous contaminants. In addition, a sump, the walls of the facility, expansion joint material and the metal base of a drill press were characterized. Results of this comprehensive characterization of the 690-N Building are provided in a detailed report. Analytical results indicate minimal radiological, PCB, or RCRA hazardous contamination is present in the concrete floor slab (industrial exposure levels) and on the steel hut walls. Soils below the concrete floor slab show only trace amounts of radiological contamination and are well below TSCA and RCRA limits. Subsequent decommissioning/demolition activities can be performed safely without harming people or the environment, and cost estimates to perform building demolition can be developed for future budget planning. (authors)

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DOE OSTI2016

Lessons Learned Concerning the Onsite Disposal Facility at the Fernald Preserve, Harrison, Ohio - 16176

An onsite disposal facility (OSDF) was constructed at the Fernald Preserve, Ohio, for the disposal of contaminated soil and debris generated during a Comprehensive Environmental Response, Compensation, and Liability Act site cleanup. Completed in October of 2006, the 30 ha facility contains 2.26 million m{sup 3} of waste materials, has a maximum height of approximately 19.8 m, and consists of eight individual cells. The dimensions of cells 1-7 are approximately 213 m x 122 m each, or 26,000 m{sup 2} (2.60 ha). The dimensions of cell 8 (the last cell constructed) are larger than those of the other cells (approximately 3.8 ha). Each cell was constructed with a leachate collection system (LCS) that collected rainwater and storm-water runoff during waste placement and prevented it from entering the underlying environment. Other engineered features include a multilayer composite liner system, a leak detection system (LDS) positioned beneath the primary liner, and a multilayer composite cover that was placed over each cell following the completion of waste-placement activities. The LCS and LDS layers are designed to convey (by gravity) any leachate/fluid that enters the system through pipes to the west side of the facility and into tanks located in valve houses. From there, leachate can be sampled and conveyed to treatment. Groundwater is monitored beneath each cell via monitoring wells. In November 2006, the US DOE Office of Legacy Management (LM) assumed responsibility for the long-term care and maintenance of the OSDF. LM has nine years of monitoring and maintenance experience with the Fernald OSDF. Monitoring data is reported each year in the Fernald Annual Site Environmental Report. The data collected and inspections conducted indicate that the facility is operating as designed. The past nine years has provided LM with the opportunity to evaluate how well many of the design and as-built features of the facility have functioned over time as they pertain to environmental monitoring, valve-house operation and maintenance, and leachate transmission. Lessons learned concerning the long-term care and maintenance of the OSDF at the Fernald Preserve are presented. The main lessons learned include the following: How bivariate plots can be used to address environmental monitoring challenges created by installing an engineered disposal facility in a location where contamination is above the background level but below cleanup standards. How valve-house design decisions can help to alleviate long-term monitoring challenges. How scale buildup can lead to leachate transmission issues. Some additional minor lessons learned are also presented. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2016

A National Disposal Facility for Radioactive Waste for Iraq - 16610

Radioactive waste resulted in the past in Iraq from a number of nuclear activities and facilities all of them seriously damaged or destroyed during the Gulf war. The task of decommissioning such facilities and managing the resulting waste is being supported by the International Atomic Energy Agency (IAEA), the European Union (EU), and the United States (US). A national policy for radioactive waste management for Iraq has been drafted by the Ministry of Science and Technology (MoST); a draft strategy for radioactive waste management implementation is in preparation. In this framework, Iraq is considering locating a radioactive waste disposal facility at the Al-Tuwaitha site, near the capital city of Bagdad. In the framework of its Instrument for Nuclear Safety Cooperation the EU has recently started a cooperation project named 'Feasibility Study, Basic Design, and Engineering Design of an Engineered Radioactive Waste Disposal Facility' for Iraq (Project IQ4.01/11). The project aims at producing the design of a repository for the radioactive waste resulting from the decommissioning activities and from the continuing use of radioisotopes in medicine and the oil and gas industry in the country. The contract for this cooperation project was awarded by the European Commission in April 2015 to the consortium of two international engineering companies, Nukem Technologies Engineering Services GmbH and DBE Technology GmbH, both of Germany, and Javys a.s., the national waste management agency of Slovakia. The planned Iraqi near-surface repository is constrained by the complex security conditions in the country. This has led to the decision of using whenever possible the Al-Tuwaitha site, were most of the waste is located, as the repository location. The project work will therefore focus on assessing whether and which part of the waste expected to result from the decommissioning and remediation activities is amenable for surface disposal in an appropriately engineered facility. In addition, careful review of the site characteristics shall provide enough elements to justify and validate the political decision of disposing of the waste in Al Tuwaitha. Thereafter, the project work will focus on the conceptual and later the engineering design of the repository. Finally, a Safety Analysis will provide the basis for regulatory decisions about the further steps for realization of the Iraqi final disposal facility. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Identification of Waste Streams and Chemicals of Concern for CNL's Near Surface Disposal Facility - 18057

Canadian Nuclear Laboratories (CNL) has a 70-year history in nuclear Research and Development (R and D) and the original support to the Canada Deuterium Uranium (Candu) reactor fleet. The present laboratory and operations include multiple facilities including reactors, laboratories, and buildings at various locations in Canada. The onsite facilities produced and still produce numerous and complex waste streams which have historically been placed in waste storage areas at their sites. CNL has completed the design and is in the process of licensing a Near Surface Disposal Facility (NSDF) for CNL low level waste (LLW). The current plan, pending regulatory approvals would complete construction and commissioning in 2021. CNL has identified the waste streams that are proposed to be disposed of to determine which may or may not require treatment prior to disposal and the Chemicals of Concern (COCs) that require identification and control to protect the facility, workers, public and the environment. CNL gathered the information into a Waste Stream spreadsheet that identifies the waste. Each waste stream was then evaluated as to whether or not it should meet the NSDF Waste Acceptance Criteria (WAC), and if not, which treatment technologies would be appropriate to make it ready for disposal. Understanding the hazards and associated COCs of the waste is required to safely dispose the waste. COCs present at Chalk River Laboratories (CRL) need to be identified and subsequently evaluated to determine if they pose any type of risk due to their hazardous properties or quantities. The COC data base was modified into a tool to assist waste generators. CNL has developed waste stream and COC data bases to support safe disposal of radioactive waste. Identification of waste streams and COCs for disposal is important for any disposal facility. The lessons learned by CNL as to what information is important and how to obtain the information would be useful to many facilities. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Closing the Book on the WVDP Vitrification Facility - 18222

Demolition of the West Valley Demonstration Project's Vitrification Facility was initiated on September 11, 2017, approximately 21 years after the facility produced its first canister of vitrified high-level waste. In the center of the structure, the heavily-reinforced concrete Vitrification Cell operated for six years, safely immobilizing about 24 million curies of high-level radioactive waste in borosilicate glass. When the facility was shut down in 2002, it had achieved the highest operational availability of any vitrification facility in the world. It was the first facility in the United States to complete its vitrification mission and is now the first in the nation to undergo demolition. This paper summarizes the selection, design, operation, deactivation and demolition of this facility. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Fully Robotic Hot Cell Crane for Target Hall Operations at Isotope Research Facility - 18329

There are many types of equipment used in high radiation environments, but the super-sized and high precision lifting requirements for an isotope research facility in the USA called for one of the largest fully robotic cranes in the US. The 20 Ton Remote Handling Bridge Crane provided by PaR Systems met many challenging requirements for accuracy, repeatability and unique lifting motions in the radiation-shielded target hall of this facility. This robotic system was designed to address four main issues. The first is that the crane needed to be operated remotely due to high radioactivity during the time when it is needed most. Second is that high precision is needed due to the complex fit of multiple heavy shielding blocks. Third problem is that automated routines and exclusion areas were needed due to the remote operation of the system around high capital cost equipment. Lastly is the survivability of the equipment due to the high radiation environment. The facility robotic crane is an overhead top running multiple girder hot cell bridge crane (hereafter referred to as the system). The system is intended to be used in either manually operated or automated operation under computer control. Under automated control, the system provides highly accurate motion control in three linear axes as well as hook rotation. Using motion control programming, this highly accurate system ensures safe, remote movement of in-cell components. The system was designed to be remotely operated by a technician from the remote handling control room in the facility. This is facilitated by computer control using the System Graphical User Interface with feedback from a facility supplied video system. It can also be operated using a wireless hand held controller. The system will be used to place sensitive components with high precision in locations that will be difficult to observe directly. In order to accomplish this, it is critical that the system be capable of moving its payload with minimal swing, and with high accuracy, repeatability and reliability. The system will be operating in an environment where it will be exposed to both high energy neutrons and gamma radiation. Under beam-off conditions, the target hall will be hands-on accessible to accommodate crane maintenance. The system was installed and tested in early 2017 in advance of the live operations of the facility. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2018

Sensing and Sampling of Trace Contaminations by a Dexterous Hexrotor UAV at Nuclear Facilities - 18600

Safe and efficient cleanups are a priority for decontamination and decommissioning of nuclear facilities. The contaminations of byproducts and wastes in such nuclear facilities pose a serious problems while decommissioning, to both the operators and public. Sensing these contaminations and cleaning them is an essential part of the safety procedures. The contaminations might range from low-energy to high-energy byproducts. Sensing these byproducts would require contact based or non-contact based sensing, based on its energy levels. Byproducts such as americium, are low-energy which makes it difficult to sense and sample without contact. Therefore, the workers need to physically swab the surfaces to collect the samples of these contaminations. These tasks pose a great danger for the safety of the human workers which includes the risk to reach greater heights, exposure to the radiation and sampling the entire building. A robotic solution is much more desirable in these cases, where the worker can safely handle the contaminations from a safe area. Use of robotic technologies inside these hazardous environments ensures the safety and enhances the performance. The more suitable robotic solution for reaching great heights and covering large areas of nuclear facilities, are aerial vehicles. Multi-rotor unmanned aerial vehicle (UAV) are chosen for their ability to hover at a position and also fly around in confined spaces. Quadrotors are a common choice of multi-rotor UAVs both research and industry because of its ease to fly and commercial availability. For the applications during the cleanups we need the UAV to not only hover and fly in confined spaces, but also interact with the physical world. Despite of quadrotor's advantages, they are not a best suit as they can't interact with the physical world. The tasks involving physical interactions would require the UAV to apply arbitrary forces and torques in all six degrees of freedom (DOF). As quadrotors are under-actuated and non-holonomic in motion, they cannot exert all the required forces. At Collaborative Robotics Lab, Purdue University, we developed a novel multi-rotor UAV solution, Dexterous Hexrotor, which can exert arbitrary forces and torques in all six DOF, independently and instantaneously. This enables the UAV platform to quickly respond to the external disturbances and precisely hold its position during the mission. The Dexterous Hexrotor serves as a robotic tool for the workers to perform sensing and sampling during the cleanups. Workers can operate Dexterous Hexrotor manually and/or semi-autonomously with human intervention. Manual control requires the worker to fly the Dexterous Hexrotor using a remote control. So the workers should possess knowledge on flying the UAV and to perform physical interaction. A semiautonomous Dexterous Hexrotor requires human input to some extent and requires very less knowledge of flying. The autonomy is designed to operate in flight mode and sampling mode. In flight mode, Dexterous Hexrotor takes off from a 'safe' area, reaches the desired altitude, and fly autonomously towards a sampling point. This sampling point is the target position specified on the 2D reference map. This mode also includes navigation towards the sampling point, avoiding the obstacles in the constrained environment. After reaching a stopping point, Dexterous Hexrotor waits for the human input for a target location to swab and collect samples. The Dexterous Hexrotor is now in sampling mode and waits for the human input. The human operator selects the swabbing location through the live streaming video from onboard camera. Through visual servoing, aided by the map, the UAV will move closer towards the target position. It then transitions to the impact control scheme to perform physical interaction with the wall and collects samples. Once the sample is collected, it autonomously returns back to the takeoff position in 'safe' area for the analysis by mass spectrometry. In this paper, we majorly focus on the physical interaction strategy and the required components which enables the autonomy. Decommissioning of nuclear facilities requires decontamination inside the entire buildings. Decontamination of nuclear facilities involves sensing and sampling the huge buildings, long shafts, etc. Sampling the entire facility is not possible due to the limitation in Dexterous Hexrotor's flight time. But this can be achieved by using a swarm of Dexterous Hexrotors to cover larger areas. The onboard robotic arm can be designed based on the applications such as cleaning, applying sealants, etc. The modularity of the design allows us to switch components as per the requirements of the task. These kind of robotic solutions functioning as tools for the workers, aims to make the work environment safer and playful. (authors)

42 ENGINEERING↗
DOE OSTI2020

Use of the Manuela 3D/Radiation Scanning Tool at Nuclear Facilities - 20437

Licensees, facility operators and decommissioning contractors have a need for comprehensive, accurate and precise radiological and topographical data to plan and execute safe and efficient Decontamination and Decommissioning (D and D) projects. Traditional approaches rely greatly upon labor and administratively intensive data collection methods that require considerable time and effort to glean the relevant data to plan and perform work in a radiological work area. Orano Decommissioning Services has developed and utilized at French nuclear facilities a lightweight portable scanning instrument called MANUELA (Mobile Apparatus for Nuclear Expertise Localization Assistance). Recently Orano conducted demonstrations at two United States nuclear facilities using MANUELA that may prove useful in areas of the fuel cycle including: - ALARA (As Low As Reasonably Achievable) planning during facility operations; - Scoping and site characterization during the D and D planning phase; - Remedial action support during active decommissioning work; - Radiation and modeling planning for plant modifications; - Support Final Status Survey and demonstration of 'end state' compliance for license termination. MANUELA is currently being evaluated for use during decommissioning of nuclear facilities and could aide in demonstrating compliance with end state criteria after decommissioning. Of particular interest are decommissioning projects planned for various sites across the United States. Most of these sites present unique challenges and opportunities to safely and efficiently decommission in a regulatory compliant manner. The two demonstration site's current conditions of relatively low radiation levels inside containment proved to be ideal platforms to deploy the MANUELA instrument for evaluation of the complex geometries typically found in a nuclear facility. The MANUELA instrument was able to precisely identify local hot spots of the reactor system's primary equipment and was able to simultaneously overlay the dose information onto the scanned 3D images. Using data like this, a licensee would be able to make informed technical and personnel decisions on methods to remediate, shield or properly dispose of the radioactive source term. MANUELA can be used throughout the decommissioning process to validate progress and continue to refine the work activities to optimize the efforts of the crew which reduces downtime waiting for survey results, whereas traditional survey methodology relies on a physical survey to be performed and the data transcribed onto survey maps that are only two dimensional. The traditional format tends to be inaccurate and difficult to interpret the precise location(s) of hot spots or generalized dose rates. The resultant scan also allows the user to know the exact extent of the survey versus transposing information onto a map with only a portion of the map area scanned. MANUELA also compiles all of the relevant survey data into a downloadable table format which includes the measurement identification number, time stamp, point space location on the XYZ plane, and the dose rate value. (authors)

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