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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 685 records · Page 38
All sourcesNASA NTRSDOE OSTI
DOE OSTI2015

A study of suppressed formation of low-conductivity phases in doped Li 7 La 3 Zr 2 O 12 garnets by in situ neutron diffraction

Doped Li 7 La 3 Zr 2 O 12 garnets, oxide-based solids with good Li + conductivity and compatibility, show great potential as leading electrolyte material candidates for all-solid-state lithium ion batteries. Still yet, the conductive bulk usually suffers from the presence of secondary phases and the transition towards a low-conductivity tetragonal phase during synthesis. Dopants are designed to stabilize the high-conductive cubic phase and suppress the formation of the low-conductivity phases. In situ neutron diffraction enables a direct observation of the doping effects by monitoring the phase evolutions during garnet synthesis. It reveals the reaction mechanism involving the temporary presence of intermediate phases. The off-stoichiometry due to the liquid Li 2 CO 3 evaporation leads to the residual of the low-conductivity intermediate phase in the as-synthesized bulk. Appropriate doping of an active element may alter the component of the intermediate phases and promote the completion of the reaction. While the dopants aid to stabilize most of the cubic phase, a small amount of tetragonal phase tends to form under a diffusion process. Lastly, the in situ observations provide the guideline of process optimization to suppress the formation of unwanted low-conductivity phases.

36 MATERIALS SCIENCE↗
NASA NTRS2007

Space Plasma Ion Processing of Ilmenite in the Lunar Soil: Insights from In-Situ TEM Ion Irradiation Experiments

Space weathering on the moon and asteroids results largely from the alteration of the outer surfaces of regolith grains by the combined effects of solar ion irradiation and other processes that include deposition of impact or sputter-derived vapors. Although no longer considered the sole driver of space weathering, solar ion irradiation remains a key part of the space weathering puzzle, and quantitative data on its effects on regolith minerals are still in short supply. For the lunar regolith, previous transmission electron microscope (TEM) studies performed by ourselves and others have uncovered altered rims on ilmenite (FeTiO3) grains that point to this phase as a unique "witness plate" for unraveling nanoscale space weathering processes. Most notably, the radiation processed portions of these ilmenite rims consistently have a crystalline structure, in contrast to radiation damaged rims on regolith silicates that are characteristically amorphous. While this has tended to support informal designation of ilmenite as a "radiation resistant" regolith mineral, there are to date no experimental data that directly and quantitatively compare ilmenite s response to ion radiation relative to lunar silicates. Such data are needed because the radiation processed rims on ilmenite grains, although crystalline, are microstructurally and chemically complex, and exhibit changes linked to the formation of nanophase Fe metal, a key space weathering process. We report here the first ion radiation processing study of ilmenite performed by in-situ means using the Intermediate Voltage Electron Microscope- Tandem Irradiation facility (IVEM-Tandem) at Argonne National Laboratory. The capability of this facility for performing real time TEM observations of samples concurrent with ion irradiation makes it uniquely suited for studying the dose-dependence of amorphization and other changes in irradiated samples.

Christoffersen, R.↗
DOE OSTI2018

Numerical Simulation and Model Analyses of In-situ Biogeochemical Remediation of Chromium at the LANL - 18306

Environmental management problems associated with contamination of groundwater resources with heavy metals (such as chromium) typically require complex biogeochemical model simulations and analysis of in situ remediation. Frequently, the in situ remediation is the only viable treatment option. In these cases, a three-dimensional reactive transport model of relevant biogeochemical processes is invaluable. Recently, we have developed a novel unique biogeochemical simulator called CHROTRAN (http://chrotran.lanl.gov; Hansen et al. 2017, Vesselinov et al. 2018a) capable to represent the full three-dimensional dynamics of processes associated with in situ biogeochemical remediation of heavy metals in heterogeneous aquifers. CHROTRAN accounts for spatial and temporal transients of (1) the heavy metal to be remediated, (2) introduced amendments (e.g., through well injection), and (3) biomass growth and decay. The introduced amendments can include (1) an electron donor (e.g., molasses), (2) a nontoxic-conservative bio-inhibitor (e.g., ethanol), and (3) a biocide (e.g., dithionite). In addition, direct abiotic reduction by donor-metal interaction as well as donor-driven biomass growth and bio-reduction are modeled in CHROTRAN. Other critical processes, such as donor sorption, bio-fouling and biomass death are also modeled. CHROTRAN can simulate the groundwater flow dynamics introduced due a series of injection and extraction wells and account for reduction of aquifer permeability near the wells due bio clogging. CHROTRAN is based on the existing PFLOTRAN (http://pflotran.org; Lichtner et al, 2017a) code framework, taking advantage of the reaction interface allowing for implementation of complex model features and leverage other facets of PFLOTRAN, such as multi-component geochemistry and high-performance computing. Here, we present numerical simulations and model analyses related to the Los Alamos National Laboratory (LANL) chromium site. The analyses are performed by coupling of CHROTRAN with MADS (Model Analysis and Decision Support; http://mads.lanl.gov; Vesselinov et al., 2018b). We present analyses related to uncertainty quantification of model predictions, sensitivity of model parameters and remedial decision support. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2014

Electrochemical flowcell for in-situ investigations by soft x-ray absorption and emission spectroscopy

A new liquid flow-cell designed for electronic structure investigations at the liquid-solid interface by soft X-ray absorption and emission spectroscopy is presented. A thin membrane serves simultaneously as a substrate for the working electrode and solid state samples as well as for separating the liquid from the surrounding vacuum conditions. In combination with counter and reference electrodes this approach allows in-situ studies of electrochemical deposition processes and catalytic reactions at the liquid-solid interface in combination with potentiostatic measurements. As model system in-situ monitoring of the deposition process of Co metal from a 10 mM CoCl{sub 2} aqueous solution by X-ray absorption and emission spectroscopy is presented.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2015

Process Design and Economics for the Conversion of Lignocellulosic Biomass to Hydrocarbon Fuels: Thermochemical Research Pathways with In Situ and Ex Situ Upgrading of Fast Pyrolysis Vapors

This report was developed as part of the U.S. Department of Energy’s Bioenergy Technologies Office’s efforts to enable the development of technologies for the production of infrastructure-compatible, cost-competitive liquid hydrocarbon fuels from biomass. Specifically, this report details two conceptual designs based on projected product yields and quality improvements via catalyst development and process integration. It is expected that these research improvements will be made within the 2022 timeframe. The two conversion pathways detailed are (1) in situ and (2) ex situ upgrading of vapors produced from the fast pyrolysis of biomass. While the base case conceptual designs and underlying assumptions outline performance metrics for feasibility, it should be noted that these are only two of many other possibilities in this area of research. Other promising process design options emerging from the research will be considered for future techno-economic analysis. Both the in situ and ex situ conceptual designs, using the underlying assumptions, project MFSPs of approximately $3.5/gallon gasoline equivalent (GGE). The performance assumptions for the ex situ process were more aggressive with higher distillate (diesel-range) products. This was based on an assumption that more favorable reaction chemistry (such as coupling) can be made possible in a separate reactor where, unlike in an in situ upgrading reactor, one does not have to deal with catalyst mixing with biomass char and ash, which pose challenges to catalyst performance and maintenance. Natural gas was used for hydrogen production, but only when off gases from the process was not sufficient to meet the needs; natural gas consumption is insignificant in both the in situ and ex situ base cases. Heat produced from the burning of char, coke, and off-gases allows for the production of surplus electricity which is sold to the grid allowing a reduction of approximately 5¢/GGE in the MFSP.

09 BIOMASS FUELS↗
DOE OSTI2014

Development of an in-situ multi-component reinforced Al-based metal matrix composite by direct metal laser sintering technique — Optimization of process parameters

In the present investigation, an in-situ multi-component reinforced aluminum based metal matrix composite was fabricated by the combination of self-propagating high-temperature synthesis and direct metal laser sintering process. The different mixtures of Al, TiO{sub 2} and B{sub 4}C powders were used to initiate and maintain the self-propagating high-temperature synthesis by laser during the sintering process. It was found from the X-ray diffraction analysis and scanning electron microscopy that the reinforcements like Al{sub 2}O{sub 3}, TiC, and TiB{sub 2} were formed in the composite. The scanning electron microscopy revealed the distribution of the reinforcement phases in the composite and phase identities. The variable parameters such as powder layer thickness, laser power, scanning speed, hatching distance and composition of the powder mixture were optimized for higher density, lower porosity and higher microhardness using Taguchi method. Experimental investigation shows that the density of the specimen mainly depends upon the hatching distance, composition and layer thickness. On the other hand, hatching distance, layer thickness and laser power are the significant parameters which influence the porosity. The composition, laser power and layer thickness are the key influencing parameters for microhardness. - Highlights: • The reinforcements such as Al{sub 2}O{sub 3}, TiC, and TiB{sub 2} were produced in Al-MMC through SHS. • The density is mainly influenced by the material composition and hatching distance. • Hatching distance is the major influencing parameter on porosity. • The material composition is the significant parameter to enhance the microhardness. • The SEM micrographs reveal the distribution of TiC, TiB{sub 2} and Al{sub 2}O{sub 3} in the composite.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Strain partition and rupture analysis of notched tensile multilayered steel specimens

Highlights: • In situ SEM tensile experiments were performed to investigate the fracture processes. • In situ synchrotron x-ray diffraction were carried out to study the microscopic deformation in MLS steel. • The changing trends of the strain in the austenite layer and martensitic layer have been revealed. - Abstract: Multilayered steel composites consisting of alternating martensitic and austenite layers were successfully fabricated with a combination of high strength and ductility. In situ SEM tensile experiments were performed to investigate the fracture processes. Results indicated that the martensitic layer distributed between two ductile austenite layers has better deformation ability, and the dimple fracture mode dominated the fracture of the whole specimen. In situ synchrotron microbeam X-ray diffraction experiments were carried out to study the microscopic deformation in austenitic layer and martensitic layer ahead of notch root under incremental tensile loading. Results indicated that for austenite layer, the maximum strain is located in the middle of the layer at the lower applied load. When at the higher applied load, larger strain is concentrated on the notch root. For martensitic layer, uniform strain is distributed at the region at the lower applied load, with increasing the applied load, small strain appears in the middle of martensitic layer. However, the variation in the strain in the martensitic layer is relatively smaller, which is actually affected by both the notch and the ferrite content in the martensitic layer. The changing trends of the strain in the austenite layer and martensitic layer can still show the better combination of brittle martensitic phase and ductile austenite phase.

36 MATERIALS SCIENCE↗
DOE OSTI2022

An in-situ conductometric apparatus for physicochemical characterization of solutions and in-line monitoring of separation processes at elevated temperatures and pressures

Specific conductance and frequency-dependent resistance (impedance) data are widely utilized for understanding the physicochemical characteristics of aqueous and non-aqueous fluids and for evaluating the performance of chemical processes. However, the implementation of such an in-situ probe in high-temperature and high-pressure environments is not trivial. This work provides a description of both the hardware and software associated with implementing a parallel-type in-situ electrochemical sensor. The sensor can be used for in-line monitoring of thermal desalination processes and for impedance measurements in fluids at high temperature and pressure. Further, a comparison between the experimental measurements on the specific conductance in aqueous sodium chloride solutions and the conductance model demonstrate that the methodology yields reasonable agreement with both the model and literature data. A combination of hardware components, a software-based correction for experimental artifacts, and computational fluid dynamics (CFD) calculations used in this work provide a sound basis for implementing such in-situ electrochemical sensors to measure frequency-dependent resistance spectra.

47 OTHER INSTRUMENTATION↗
DOE OSTI2019

Microstructure and Properties of Inconel 718 Fabricated by Directed Energy Deposition with In-Situ Ultrasonic Impact Peening

Many inherent issues, such as the detrimental residual stress, columnar grains with anisotropy, and weak mechanical properties, have severely impeded the adoption of metal additive manufacturing (AM) techniques including powder bed fusion and directed energy deposition (DED) processes. In this study, a hybrid AM process that consists of layer-wise laser metal deposition (i.e., a DED process) and in-situ ultrasonic impact peening (UIP) was applied to obtain Inconel 718 superalloy workpieces. Also, for further property enhancement, a post-heat treatment was applied to the deposited material obtained by the hybrid AM process. Scanning electron microscopy and transmission electron microscope were used to investigate the microstructure morphology and reveal the underlying strengthening mechanism. Electron backscatter diffraction was employed to quantitatively study the microstructure resulted from the hybrid AM process and the post-heat treatment. The profile of residual stress along the depth direction was obtained through X-ray diffraction. The results demonstrate that this hybrid AM process is capable of producing high-quality metal parts with significantly refined microstructure, and beneficial compressive residual stress along the depth into surface. Severe plastic strains are introduced by UIP, and the resulted mechanical twinning and dynamic recrystallization play an important role in refining microstructure. The material microstructure is further refined down to 100 µm, and the texture anisotropy is significantly diminished after solution treatment at 980 °C for 1 hour. Under the as-built condition, in-situ ultrasonic peening alters the residual stress component from a tensile state to an overall compressive state with a maximum value of − 190 MPa within the range of measurement depth.

36 MATERIALS SCIENCE↗
DOE OSTI2021

Performance of Embedded Sensors in 3D Printed SiC

This report summarizes recent advances in embedding sensors in 3D printed silicon carbide (SiC) ceramic components under the Transformational Challenge Reactor (TCR) program. The additive manufacturing technologies developed under this program will enable fabrication of complex structures with embedded fuels and sensors. The sensors will be capable of characterizing fuel performance using spatially distributed measurements at the most strategic locations that would be otherwise inaccessible using conventional manufacturing techniques. While previous programmatic updates describe initial concepts for embedding sensors, materials selection, and initial characterization of the embedded sensors, the technology requires further demonstration, and quality-significant procedures must be established before the embedding technology is ready for adoption by industry. To this end, this report describes the most effective techniques that have been used to embed functional sensors in 3D printed components using a combination of binder-jet additive manufacturing and chemical vapor infiltration (CVI). A detailed procedure describes each step in the process and is available upon request. Molybdenum (Mo)-sheathed thermocouples have been successfully embedded in complex SiC components, and temperatures were monitored in situ during the embedding process. Post-embedding measurements showed no significant hysteresis, and characterization of the interface revealed qualitatively strong bonding around the entire perimeter of the sensor sheath. Distributed fiber-optic temperature sensors were able to briefly measure temperature profiles during CVI, but they ultimately failed prior to completion of the CVI run. The failure appears to be related to the fiber coating at temperatures close to 1,000°C. Future work will focus on irradiation testing of embedded thermocouples and other sheathed electrical sensors, as well as the identification of fiber-optic sensor coatings that can survive CVI.

42 ENGINEERING↗
NASA NTRS2008

Solar Concentrator Demonstrator for Lunar Regolith Processing

NASA at the Marshall Space Flight Center (MSFC) is building a portable inflatable solar concentrator ground demonstrator for use in testing in-situ resource utilization (ISRU) lunar regolith processing methods. Of primary interest is the production of oxygen as a propellant oxidizer and for life support. There are various processes being proposed for the in-situ reduction of the lunar regolith, the leading processes are hydrogen reduction, carbothermal reduction and vapor phase pyrolysis. The concentrator system being built at MSFC could support demonstrations of all of these processes. The system consists of a light inflatable concentrator that will capture sunlight and focus it onto a receiver inside a vacuum chamber. Inflatable concentrators are good for space based applications due to their low weight and dense packaging at launch. The hexapod design allows the spot size to be increased to reduce the power density if needed for the process being demonstrated. In addition to the hardware development, a comprehensive simulation model is being developed and will be verified and validated using the system hardware. The model will allow for the evaluation of different lunar locations and operational scenarios for the lunar regolith processing with a high confidence in the predicted results.

Fikes, John C.↗
DOE OSTI2019

Plasma ignition and detection for in-situ cleaning of 1.3 GHz 9-cell cavities

Superconducting Radio Frequency (SRF) cavities performance preservation is crucial, from vertical test to accelerator operation. Field Emission (FE) is still one of the performance limiting factors to overcome and plasma cleaning has been proven successful by the Spallation Neutron Source (SNS), in cleaning field emitters and increasing the work function of Nb. A collaboration has been established between Fermi National Accelerator Laboratory (FNAL), SLAC National Accelerator Laboratory and Oak Ridge National Laboratory (ORNL) with the purpose of applying plasma processing to the Linac Coherent Light Source-II (LCLS-II) cavities, in order to minimize and overcome field emission without affecting the high Q of nitrogen-doped cavities. The cleaning for LCLS-II will follow the same plasma composition adopted at SNS, which allows in-situ processing of cavities installed in cryomodules from hydrocarbon contaminants. A novel method for plasma ignition has been developed at FNAL: a plasma glow discharge is ignited using high order modes to overcome limitations imposed by the fundamental power coupler, allowing in-situ cleaning for cavities in cryomodule. The plasma can be easily ignited and tuned in each of the cavity cells using low RF power. A method for plasma detection has been developed as well, which allows the detection of the plasma location in the cavity without the need of cameras at both cavity ends. The presented method can be applied to other multi-cell cavity designs, even for accelerators where the coupling for the fundamental modes at room temperature is very weak.

43 PARTICLE ACCELERATORS↗
DOE OSTI2016

Seeing through walls at the nanoscale: Microwave microscopy of enclosed objects and processes in liquids

Here, noninvasive in situ nanoscale imaging in liquid environments is a current imperative in the analysis of delicate biomedical objects and electrochemical processes at reactive liquid–solid interfaces. Microwaves of a few gigahertz frequencies offer photons with energies of ≈10 μeV, which can affect neither electronic states nor chemical bonds in condensed matter. Here, we describe an implementation of scanning near-field microwave microscopy for imaging in liquids using ultrathin molecular impermeable membranes separating scanning probes from samples enclosed in environmental cells. We imaged a model electroplating reaction as well as individual live cells. Through a side-by-side comparison of the microwave imaging with scanning electron microscopy, we demonstrate the advantage of microwaves for artifact-free imaging.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
DOE OSTI2019

Low RF Power Plasma Ignition and Detection for In-Situ Cleaning of 1.3 GHz 9-Cell Cavities

Superconducting Radio Frequency (SRF) cavities performance preservation is crucial, from vertical test to accelerator operation. Field Emission (FE) is still one of the performance limiting factors to overcome and plasma cleaning has been proven successful by the Spallation Neutron Source (SNS), in cleaning field emitters and increasing the work function of Nb. A collaboration has been established between Fermi National Accelerator Laboratory (FNAL), SLAC National Accelerator Lab- oratory and Oak Ridge National Laboratory (ORNL) with the purpose of applying plasma processing to the Linac Coherent Light Source-II (LCLS-II) cavities, in order to minimize and overcome field emission without affecting the high Q of nitrogen-doped cavities. The cleaning for LCLS-II will follow the same plasma composition adopted at SNS, which allows in-situ processing of cavities installed in cryomod-ules from hydrocarbon contaminants. A novel method for plasma ignition has been developed at FNAL: a plasma glow discharge is ignited using high order modes to overcome limitations imposed by the fundamental power coupler, allowing in-situ cleaning for cavities in cryomodule. The plasma can be easily ignited and tuned in each of the cavity cells using low RF power. A method for plasma detection has been developed as well, which allows the detection of the plasma location in the cavity without the need of cameras at both cavity ends. The presented method can be applied to other multi-cell cavity designs, even for accelerators where the coupling for the fundamental modes at room temperature is very weak.

43 PARTICLE ACCELERATORS↗
DOE OSTI2018

Near Surface Nucleation and Particle Mediated Growth of Colloidal Au Nanocrystals

During non-classical growth of nanostructures via assembly of primary nuclei, nucleation and assembly are assumed to be distinct processes: nanoparticles nucleate randomly and aggregate to form extended structures through Brownian motion in the presence of long-range attractive interactions. Here we investigate the relationship between these two processes by using in situ AFM, in situ, ex situ and cryo TEM and UV-Vis spectroscopy to observe growth of colloidal gold and simulations to develop a mechanistic model of the process. Our results reveal an inexorable link between nucleation and assembly with nuclei forming almost exclusively within a ~ 1 nm interfacial region of existing particles. The new particles immediately close the gap either through a diffusive jump or via growth of a neck between the seed and new particle, generating aggregates exhibiting features commonly attributed to oriented attachment of independently nucleated particles. The results demonstrate that creation of initial particle interfaces leads to local environments that redirect growth towards non-classical processes.

Cheng, Yingwen↗
DOE OSTI2026

A mathematical design framework for membrane pre-concentration in energy-efficient recovery of fermentation products

Due to the dilute nature of products manufactured via fermentation and cell-free bioprocessing, dewatering is a common unit operation in downstream processing (DSP) for bioproduct recovery, but it is typically energy intensive. To improve DSP energy efficiency for bio-based small molecules, integrating high-pressure membrane pre-concentration is a promising process option. However, this approach is typically constrained by a tradeoff between concentration factor (CF) and product recovery (PR), namely increasing the CF typically results in greater product loss, and vice versa. Here we developed a model that enables process design guidelines to: (i) identify scenarios in which the additional energy consumption and product loss from membrane pre-concentration are justified for use in DSP, and (ii) determine the optimal CF that minimizes process specific energy consumption. We compared the energy consumption of high-pressure membrane-integrated processes to evaporation-only processes and applied the model to an experimental case study for the separation and purification of butyric acid from Clostridium tyrobutyricum fermentation using an in situ product recovery (ISPR) process. The model estimated that integrating a tangential-flow reverse osmosis (RO) pre-concentration unit could reduce process energy consumption up to 45%. The use of advanced membrane pre-concentration technologies, such as negative rejection membranes and organic solvent reverse osmosis (OSRO), have the potential to further reduce the overall process specific energy consumption up to 96%, projected based on modeling. Overall, membrane pre-concentration, especially when strategically integrated prior to an evaporation step with optimized process conditions, holds significant potential for improving DSP energy efficiency, particularly in applications requiring substantial solvent removal for product recovery from dilute mixtures.

09 BIOMASS FUELS↗
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↗