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At least 829 records · Page 46
All sourcesNASA NTRSDOE OSTI
DOE OSTI2016

Use of Multiple Remote Systems for Calcine Retrieval Operations at Idaho - 16592

There are approximately 5000 m{sup 3} of radioactive calcine material stored in six Calcine Solids Storage Facilities (CSSFs) at the DOE Idaho site. Each CSSF contains from three to twelve stainless steel tanks surrounded by a concrete vault. In accordance with the Idaho Settlement Agreement (ISA), this waste has to be retrieved and immobilized by December 31 2035 although no final decision has yet been made on how the calcine wastes are going to be retrieved from the CSSF's. One of the primary issues with the retrieval is that, in accordance with the ISA, any existing risers into the tanks have to be used 'to the maximum extent possible' in the retrieval process. Since these risers are only 6-8'' in diameter, this limits the types of systems that can be used for the retrieval. In addition, each bin containing the calcine has a series of obstructions which need to be navigated around and so inflexible systems such as conventional hose-based vacuum type systems are not feasible. In addition, the retrieval system selected has to be able to manage multiple forms of calcine (powder, granular, agglomerated, chunks etc) and operate in a very highly radioactive environment. This paper describes the progress made to date in developing an approach based on the use of multiple remote system platforms to gain entry into the bin-sets and to safely and cost-effectively retrieve the calcine wastes. Much of the work has focused on the application of the OC Robotic snake-arm robot system although significant effort has also been allocated to understanding the deployment mechanism of the snake-arm and to the ancillary supporting systems such as those for contamination control, cutting and welding new risers into the bin-sets and vacuum hose management within the bin-set. Future work will include the construction of a scaled mock up to demonstrate the field implementation of the system. (authors)

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

Fit for Purpose Remote Technology Decommissioning Solutions - 18630

The Magnox Decommissioning Project is actively progressing clean-up and decommissioning of 12 reactor sites across England, Scotland and Wales. Funded and directed by the United Kingdom's Nuclear Decommissioning Authority (NDA) and managed by the Cavendish Fluor Partnership (CFP), the Magnox Decommissioning Project introduces a wide range of radiological and industrial hazards warranting deployment of remote technologies to safely de-inventory, decontaminate and decommission a vast array of nuclear facilities. The Magnox Decommissioning Project encompasses 22 former Magnox nuclear power production reactors across 10 reactor sites and five research/test reactors at two former research sites. Decommissioning activities have been underway at some sites for nearly 20 years with early focus on retrieving and stabilising wastes and draining and stabilising spent fuel ponds. The Magnox decommissioning strategy invokes a programme perspective to drive consistency in tackling similar decommissioning and waste challenges across multiple sites. Programme central teams have worked with technology suppliers to foster learning from industry experience to develop and deploy tooling and robotics. The programme approach has also facilitated learning from one site to the next. In many cases, this central programme approach has promoted an evolution of technologies resulting in optimisation of simple remote tooling. In other instances, collaboration with suppliers is producing state-of-the-art technologies to tackle more unique challenges including, most recently, early demonstration of laser cutting for reactor vessel dismantling. This paper will outline the programme management approach and the scalable optioneering process Magnox employs to select the engineered controls and technologies used in decommissioning and waste management activities. It will provide an overview of the broad range of remote tooling and robotics deployed across the 12 Magnox sites by exploring some specific examples. Lastly, the paper will summarise key lessons learned in the now extensive history of selecting and using remote technologies to decommission Magnox nuclear facilities. (authors)

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

System Integration for Remote Systems at DOE Hanford Nuclear Site - 18712

The deployment of remotely operated technology that functions in environments too hazardous for worker entry are often needed at the Hanford Site to perform functions like infrastructure inspection; decommissioning and decontamination; characterization; environmental sampling; and nuclear waste sampling, mobilization, and retrieval. The development and production of Hanford remote systems typically requires the integration of robotic components and sensor technologies that have been engineered or adapted to meet function and performance requirements. Pacific Northwest National Laboratory has led the engineering and integration of robotic and sensor/manipulator technology for several remote system deployments at Hanford and for national security sponsors. This paper describes the system integration process for ensuring that the mechanical, electrical, and software aspects of each component are successfully brought together to produce a remote system that meets function and performance requirements under extreme environments and limited-access operational demands. A brief summary of previous and current remote system projects is also provided. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Double-Shell Tank Primary Bottom Inspection Development - 19067

Double-Shell Tank (DST) integrity at Hanford is maintained with a variety of activities such as ultrasonic and visual inspections, chemistry controls, corrosion monitoring and structural analyses methods [1]. A pressing need for the Double-Shell Tank Integrity Program is the ability to inspect the bottom of the tanks. Though the DSTs' annulus spaces (the space between the internal and external tank walls) have been inspected visually since 1992 and with Ultrasonic Testing (UT) since 1996, WRPS has been unable to conduct inspections of the tank bottoms due to limitations of available technology, omitting about 40 percent of the tank surface below the maximum fill level from routine inspection. Visual inspections of the tank annulus have been conducted up to five times in some DSTs and the annulus space for all of the DSTs has been inspected twice with UT. The annulus region includes the walls of the primary tank and secondary liner along with accessible portions of the secondary liner bottom. Due to the lack of under-tank inspection technology, degradation of the primary tank bottom in Tank AY-102 was undetected until the tank leaked into its annulus space, confirmed in 2012 [2]. Since that time, WRPS has been working with the nondestructive examination community and the Pacific Northwest National Laboratory to evaluate potential technologies to conduct these challenging remote inspections. Recent work has included the development, testing, and deployment of several remote visual inspection technologies to observe the condition of the primary tank bottom of the DSTs by leveraging air distribution slots in the refractory pad on which it rests. Robotic solutions to conduct this inspection were developed with a detailed understanding of the physical configuration and operational logistics. Understanding and subsequent communication of these details to vendors within the robotics and nondestructive examination community was a critical component to the successful production of these new tools. In total, two remote visual inspection tools were produced by two vendors. The first tool was designed to leverage existing ultrasonic testing magnetic wall crawler technology in use within the double-shell tank annuli at Hanford. This resulted in a cost savings, immediate familiarization with the equipment, and a more streamlined shop to field experience. The second tool was developed from the ground up, and represents a more tailored and purpose-built solution to the problem. While costlier and more complex, it is also more versatile and capable of future growth or adaptation. Initial design of both tools began in early FY17 with fabrication and testing completed in early FY18. The tools were designed to be deployed alongside existing inspection operations and expand coverage. Development of visual inspection tools to evaluate the primary tank bottom region of the double-shell tanks was planned as the first stage of inspection. Continued development of volumetric sensors and incorporation of these inspection tools into Hanford's ongoing Double-Shell Tank Integrity Program are the next steps, continuously seeking to expand understanding of asset integrity and remaining useful life. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Autonomous Radiological Survey Systems for Locating Fired Depleted Uranium Munitions - 19212

An ensemble of autonomous radiological survey platforms that utilize a suite of scintillation detectors that can be used to conduct radiological site characterization, assist with remediation efforts, or conduct site clearance in accordance with the Multi-Agency Radiologic Survey and Site Investigation Manual are described. The overall systems are composed of inorganic scintillators, light detection and ranging, global positioning, inertial guidance, wireless telemetry, and signal processing systems. Two primary designs are discussed: a three-meter wide platform and multiple half-meter-wide systems. The survey systems are used to conduct radiological surveys over large areas autonomously, without human involvement. The three-meter system has been designed to cover large, open areas free of obstacles. Smaller robotic platforms are designed to handle a large range of terrain types and to conduct surveys in areas that are plagued with obstacles, such as bushes and trees. The primary design criteria for these systems were accurate locating of fired depleted uranium (DU) munitions. Several U.S. Army facilities have remnant DU material on active firing ranges where DU rounds have been used in performance evaluations. Many ranges also have unexploded ordinance (UXO) challenges which are problematic for conducting walkover surveys. The combination of having active DU impacted firing ranges with UXO make conducting site characterization surveys very difficult and hazardous. The autonomous surveying systems allow radiological scanning data collection to be scheduled around range activities and reduces human exposure to ionizing radiation and UXO. All of the robotic platforms act independently, and are controlled by a centralized computer system via a wireless telemetry system. The central computer system is responsible for setting up survey units, survey paths, and scheduling which platform is to complete the scheduled survey. Unit selection and scheduling are completed by technicians, and the work is conducted autonomously by these survey platforms. The survey areas and survey paths are transmitted to each platform through the telemetry system. Radiological and positional data are collected by the systems and transmitted back to the central computer system in real-time. Collected data is saved to a database for post-survey analysis or can be analyzed in real-time. Analysis of the radiological data is used to construct radiation intensity and estimated DU concentration maps. Automatically generated reports for each survey unit will provide range managers with: survey coverage data maps, estimated uranium concentration maps, and a detailed list of areas that are above a user defined concentration. This paper describes the components of each of the surveying systems, their capabilities, and limitations. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Modern Integrated Decommissioning at Chalk River Laboratories - 19401

Canadian Nuclear Laboratories (CNL), formerly Atomic Energy of Canada Limited (AECL) is Canada's premier nuclear science and technology (S and T) organization in Canada. Over the next decade, CNL will be transforming its many different sites through the revitalization of essential site infrastructure, the decommissioning of aging infrastructure and a significant investment in new, world-class science facilities. In particular, the main site for CNL resides at the Chalk River Laboratories (CRL), where the majority of parallel activities of revitalization and decommissioning will take place. In 2016, CRL started an ambitious ten year plan to decommission more than 120 buildings. In order to ensure this project remains on track and the ALARA (as low as reasonably achievable) principle is maintained, a strategy is required. This strategy is to focus on integrated activities, which meet/exceed international best practices, to ensure the work is carried out as efficiently as possible. Given the complexity of CRL operations and the legacy issues accumulated over 60 years of operation, CNL needed to adopt a modern and integrated approach to handle competing project priorities. As a starting point, achieving complete radiological characterization of many building structures is required. CNL engaged various vendors to modernize radiological surveys from paper records to electronic documentation, deploying modern survey tools such as data-logging instruments, gamma cameras, robotic surveying tools, and introducing tablets to improve the flow of information while workers are in the field. Once fully implemented, these improvements will ensure that quality information is readily available at all stages of decommissioning, which greatly reduces project schedules and results in important company savings. These techniques will ensure that, during planning, historic radiological survey data is easily searchable from the electronic documentation system. Any additional data required can be quickly and safety collected using robotic surveying tools in areas of higher radiation to reduce possible exposure to individuals. As decommissioning progresses, individuals in the field can use tablets, gamma cameras and data-logging instruments to accurately retrieve, collect and share data. As a result of these efforts, CNL is progressing towards becoming a leader in the field of decommissioning within Canada, applying modern techniques and best practices to reduce decommissioning project risk. Access to high quality information results in improved decommissioning plans, which will reduce the amount of rework and scheduling delays required and improve worker safety as the project is executed. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Panel Session 54: Robotics/Remote Control Technology at Japan Fukushima Daiichi (2/2)

The panel focused on Robotics/Remote Control Technology considered and implemented at the Japan Fukushima Daiichi nuclear power plant and the surrounding clean-up efforts. Suzuki san recognized that a significant amount of progress had been made during the 8 years since that accident, and that a key component of the progress includes the development and application of robotic technologies. Presentations proposed include: 1 - Development of Robotics technologies in Hitachi-GE (Satoshi Okada, Hitachi-GE Nuclear Energy, Ltd. (Japan)); 2 - Remote Control Technology for Fuel Removal of Fukushima Daiichi Nuclear Power Plant Unit 3 (Shinya Okada, Kajima Cooperation (Japan)); 3 - VNS Fukushima Remote Handling (Matthew Cole, Veolia Nuclear Solutions (USA)); 4 - Education of the Robotics/Remote Technology for Decommissioning (Mio Kasai, National Institute of Technology, Fukushima College (Japan))

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Waste Characterization Methods Based on Gamma-ray Imaging Spectrometers - 19454

Characterization of LLW, ILW, U, NORM and TENORM is critical to the nuclear industry's bottom line. Accurate measurements enable the disposal of waste at the lowest possible cost. In the past the most accurate technology available involved using HPGe detectors and extensive system modeling to estimate the total source term given what the user knows about the geometry of the source and any shielding between the source and the detectors. Now there are a variety of imaging detectors that are available commercially, including CZT and HPGe detectors that achieve energy resolution ≤1% FWHM at 662 keV. These devices couple the traditional high resolution spectroscopic analysis with next generation gamma-ray imaging information to more accurately characterize the radiation source term. Uncertainties in the source location will result in significant error in the characterization of an object's radioactivity. It is helpful if the object can be spun, such as a barrel, so that any asymmetry in the source distribution is averaged out from the detector's point of view. Even in the case of a spinning barrel it is important to determine if the radiation is concentrated near the center of the barrel or distributed near the edge. The closer one measures to a barrel, which usually dictates the time required to acquire data, the more these spatial variations in the source distribution will affect the calculated activity of each isotope. This paper will focus on showing the use of CZT imaging spectrometers to characterize complicated radiation source terms. The radiation images are used to determine where the source term should be defined in a radiation transport model that calculates the expected number of photopeak counts for each isotope detected. This is used to calculate the activity of the source. The transport model is used to determine the attenuation of the radiation source term through distance and shielding material, but the detection efficiency is based solely on radiation measurement data. These measurements are taken with a robotic source positioning device that allows for detailed directional efficiency calibration. It is a fully automated system where a detector is loaded into the device and all of the efficiency curves are captured as a function of direction by creating new measurements for each location the robot positions the source. These measurements are tagged with the true source location and the efficiency curve is calculated for each measurement. This is used to create a response function matrix as a function of energy and incident direction which is used to convert the direction dependent flux on the detector head determined from the simulation model to the expected number of counts per unit activity of each isotope of interest. The results of these source term reconstructions in both the spatial and spectral domain will be shown. The impact of improper specification of the source term will be shown for a few standard waste characterization scenarios to demonstrate the importance of proper source location determination. Finally, the underlying calibration method and some sample efficiency curves as a function of direction will be shown to demonstrate the importance of calibrating out directional response functions in imaging devices (which often have a strong forward sensitivity bias). (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

A Flaw Stability Analysis for the Savannah River Site 3H High-Level-Waste Evaporator - 19548

The Savannah River Site (SRS) 3H high-level-waste Evaporator (242-25H) entered service in January 2000 and was discovered to be leaking in February 2016. It was robotically repaired and resumed operation in July 2018. During initial restart in December 2017, salt deposits were discovered on the evaporator's lower shell near welds, indicating two more small leak sites. The leak sites have an estimated hydraulic diameter of about 0.1 mm or less - about the diameter of a human hair. The estimated leak rates are about a factor of 10,000 smaller than the robotically repaired leak. An API 579-1/ASME FFS-1 fitness-for-service evaluation determined that if the leak sites are cracks, then they would need to be about 60 mm long (∼ 2 inches) to actively and catastrophically grow. Furthermore, a crack of this length would have been detected earlier since it would leak thousands of liters per day. The evaporator was designed with engineered features that minimize risks posed by these small leaks. The path-forward involves operating the evaporator in a deliberate manner with enhanced surveillance. The 3H Evaporator is key to SRS safely and timely reducing its 130 million liter liquid high-level-waste inventory, closing remaining waste tanks, and reducing associated risks to workers, the public, and the environment. (author)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2019

Building the Scale Model TELBOT Master Arm - 19585

For centuries, the art and science of modeling have gone hand in hand with the advancements of technology. Among the most impressive examples of the past modeling were ship models constructed for the British Royal Navy. Referred to as Admiralty models, they were principally constructed during the 18. and 19. centuries to depict proposed warship design. To this day, models are important in the field of engineering, where analytical modeling of a new design needs to be verified. In our project the old practice of building models will be fortified by the most advanced software and 3-D printing technology and used to manufacture a fully working Telbot Master Arm scaled down to 0.4-0.5 of its original size. The Telbot is a robotic arm used in different fields like the nuclear and chemical industry, often in combination with other products of our company. The main features of the Telbot's sleek construction are: 1) the high load capacity design; 2) unlimited rotation of all axes; 3) no external or internal wiring of the arm; 4) unlimited, fast and precise arm movements; 5) smooth and sealed arm bodies and joints; 6) high repeat accuracy; 7) resistance to radiation, and it can handle precise loads from 5 kg to 150 kg. Presently, to demonstrate such impressive design features and movement possibilities to its customers, HWM has to build a 3-D virtual reality simulation of the environment where Telbot is proposed to be used and then the arm simulates its movement in this environment. In addition, though HWM does have a showroom for Telbot, due to its weight and size it is not possible to take the full size Telbot on the road to show off its capabilities to customers. The challenge is to build a scaled down full working version of the Telbot robotic arm that can be moved in every direction and angle. The model will be based on the redeveloped T300 Telbot, with 3 joints and 7 free to move pivots. It will be at a 0.4 or 0.5 scale. The outer shell will be 3D printed. The sensors will forward the position and angle to HWM virtual reality software. With these features, any changes made on the model would get displayed in the software one-to-one. The result will be a Telbot Master arm model which can be easily transported; Waellischmiller would be able to present the Telbot not just virtually, but as a real product with all its functions and versatility and show it all over the world. The extensive construction of the virtual 3-D stimulation can be eliminated and the course of movement to reach specific positions could get simulated faster and easier. It can also be used internally and externally for training. This paper will address the challenges, materials used and manufacturing process of building a fully-working scaled-down version of the Telbot Master Arm. (authors)

3D PRINTING↗
DOE OSTI2020

Savannah River Site H-Canyon Advancing Technologies for Remote Inspections - 20345

In 2017, the DOE Environmental Management Office of Technology Development (DOE-EM TD) sponsored the H-Canyon Advanced Technology Demonstration (ATD) to demonstrate to DOE facilities the value of using new commercial-off-the-shelf (COTS) and near-ready technologies to solve difficult problems and enhance worker safety. The DOE Savannah River Site (SRS) H-Canyon Air Exhaust Tunnel (HCAEX) inspection task was identified as representative of the hazardous, human denied environments which could benefit from advanced technologies. The HCAEX underground concrete tunnel is visually inspected biannually using a camera mounted on a remotely operated vehicle (ROV) designed and built by SRNL. While tunnel images have provided valuable visual information, it is desirable to have a higher order of understanding of the environment to support a more thorough structural integrity (SI) analysis and for long term planning purposes. As part of the ATD, the Concrete Integrated Product Team (CIPT) was formed to identify and evaluate available sensors and methods mature enough to remotely obtain tunnel concrete characterization data of high value and with a high probability of success. The team included SMEs and H-Canyon stakeholders in the field of concrete, nondestructive examination (NDE), structural integrity, sensors and remote systems from SRNL, SRNS, LANL, DOE-SR and the Army Corps of Engineering. The CIPT completed an in-depth identification of customer concrete inspection needs and potential technology solutions. Sensors and methods were evaluated on performance, data usefulness, cost and the feasibility of a successful deployment given the unique tunnel access challenges and environment. Two technologies were identified as promising by the CIPT for near term demonstration and evaluation: Lidar (Light Detection and Ranging) 3-dimensional (3D) mapping and remote robotic deployment of NDE instrumentation. Laser spectroscopy to characterize tunnel surface chemical changes was also of interest, but presently cost prohibitive. This paper will include a discussion of the two efforts underway to evaluate and implement the CIPT recommendations. First, the status of the November 2019 deployment of Lidar at a single location into the tunnel is presented. This initial deployment provided the team a learning curve and lessons learned on the challenges of tunnel deployment to include remote operation and data collection, stabilization of the sensor in high air flow (∼30 mph), ability to achieve a tolerance accuracy of 0.25-inches, and the probability to identify change in tunnel dimensions over time. Secondly, a discussion on the development of the Robotic Arm Concrete Inspection Test Bed capable of deploying NDE instruments to examine custom concrete forms will be presented. Concrete forms simulating the rough concrete surfaces, strength, composition and potential structural defects that can be found at our DOE EM facilities have been designed and built for the test bed. Two state-of-the art concrete NDE instruments have been identified as having potential to work on rough concrete walls, they are being tested and characterized as to their ability to provide desired structural integrity data to include wall thickness and defect identification on the developed test beams. Lastly, lessons learned, and the path forward will be presented. (authors)

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

Augmented reality system for remote operation - 200

This paper presents a new approach to applications of augmented reality techniques for performing telerobotic operations in uncertain and hazardous environments. Particular application examples include remote or partially-automated operation of robotic manipulators in nuclear waste facilities, decommissioning sites, or as a part of incident remediation. Recently advances in virtual reality (VR) and augmented reality (AR) technology presents opportunity for enhancing the performance of such remote operations. VR can provide immersive artificial environment for the operator to interact with. As an advanced concept, AR adds to it the blending or artificial contents with real world - users are able to interact with virtual contents in the real world. This work addresses key technological innovations necessary for adopting the VR/AR technologies for the remote operation of hardware robotic systems in real world tasks. To this end, this work focuses on implementation of 'virtual fixtures', which allows intuitive and precise guidance of remote operation, as well as key enhancements in 3D sensing/reconstruction technology. In addition, the implementation details of the integration of the multi-modal augmented reality system to the telerobotic control system are presented. (authors)

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

Development of Plug-and-Play Interchangeable Components for Unmanned Aerial System with Mobile Manipulation Capability

The safe cleanup of the environmental legacy brought about from decades of nuclear weapons development and government-sponsored nuclear energy research is of vital importance. The sites of U.S. Department of Energy hold 6.5 trillion liters of contaminated groundwater and 40 million cubic meters of soil and debris contaminated with radionuclides, metals, and organics. The deactivation and decommissioning process (D and D) involves conversion of active, excess, and/or abandoned facilities to a final disposition. Because of residual radioactivity and dangerous chemicals, and the physical condition of these facilities, D and D presents unique hazards that must be addressed from safety, environmental, programmatic, and technological standpoints. This problem calls for development of informed D and D strategies including in-situ decommissioning, efficacy of D and D operations, productivity and personnel safety of D and D operation, facilitation of acceptable facility end-states, and independent verification. To identify and address D and D risks and challenges, innovative applications and timely insertion of existing commercially available technologies, processes and robotics or remote hardware are necessary. Aerial robotic unmanned autonomous systems (UAS) enable remote sensing operations. To address the needs of UAS-based sensing and sampling applications, we are developing plug-and-play interchangeable components for integration into the UAS: a neutron/gamma radiation sensor, a gas sensor for detection of vapors in air, and a miniature manipulator. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2026

A Mobile Hot Cell for Conditioning Disused Sealed Radioactive Sources for Storage or Transportation

An innovative Mobile Hot Cell (MHC) has been developed for conditioning Disused Sealed Radioactive Sources (DSRS) category 1 and 2 for storage or transportation. The MHC is designed to provide both Radiological and Biological containment with a maximum capacity of 1000 Ci Co60 or 5000Ci Cs137 source and can be transported via standard cargo containers. This project has been supported through the National Nuclear Safety Administration (NNSA) Offsite Source Recovery Program (OSRP). The project is intended for the international community rather than domestic although domestic use is a possibility. Many countries have significant stockpiles of these devices that are often stored in less-than-optimal circumstances. This necessitates that these devices be addressed expeditiously, and the sources secured. The MHC utilizes robotics, automation, and other non-traditional methods for disassembling, characterizing, and packaging these sources that have reached end of life or are otherwise not needed. These innovative approaches are necessary to facilitate an expedited timeline to efficiently and safely secure these sources in a non-proliferation effort. Conditioning efforts include disassembling the device such as a teletherapy head used for cancer treatment, or blood/research irradiators such that the radioactive sources may be removed safely. The sources are then characterized. Leak checks are performed, dimensions are verified, and serial numbers are confirmed. Upon completion, the sources are typically placed into a Standard Forms Capsule which is seal welded closed. It is leak tested and placed into a Long-Term Storage Shield (LTSS) which can either be secured for storage directly or loaded into an appropriate cask for transportation. Further innovations include multiple deployment scenarios that include a full deployment of MHC components, deployment of the MHC automation internal components to an existing hot cell, deployment of minimally required MHC components and incorporation of sand for shielding, and integration of the MHC for Silo Storage, or Bore Hole Storage efforts. The MHC has evolved from a very specific use case to a “Swiss Army Knife” type of a tool in that it can be readily adapted to a large variety of situations. Innovative approaches such as the use of robotics, Computer Numeric Control (CNC) machining centers, automated welding equipment, HDMI Cameras, and LED lighting are some of the developed technologies incorporated into the MHC design. Shielding is accomplished with a steel walled Base Box which is surrounded by four nesting doll shield shells which when combined limits the external dose rate to 5mr/hr when a 1000 Ci Co60 source is exposed inside.

99 - GENERAL AND MISCELLANEOUS↗
DOE OSTI2016

The Stanford Automated Mounter: Pushing the limits of sample exchange at the SSRL macromolecular crystallography beamlines

The Stanford Automated Mounter System, a system for mounting and dismounting cryo-cooled crystals, has been upgraded to increase the throughput of samples on the macromolecular crystallography beamlines at the Stanford Synchrotron Radiation Lightsource. This upgrade speeds up robot maneuvers, reduces the heating/drying cycles, pre-fetches samples and adds an air-knife to remove frost from the gripper arms. As a result, sample pin exchange during automated crystal quality screening now takes about 25 s, five times faster than before this upgrade.

43 PARTICLE ACCELERATORS↗
DOE OSTI2025

Chemo‐Mechanical Coupling in Hydrogels: Dynamics in the Diffusion‐Limited Regime

Hydrogels are characterized by substantial volume changes in response to external stimuli, making them promising candidates for developing smart materials with enhanced adaptability and responsiveness. By integrating chemical reactions, hydrogels acquire dynamic and tunable responsiveness to external stimuli through chemo‐mechanical coupling, expanding their potential in emerging applications. However, capturing their transient behavior remains challenging due to the complex interplay of chemical reactions, solvent transport, and polymer network deformation. Classical theories capture equilibrium swelling but fail to describe time‐dependent phenomena. To address this, a time‐dependent continuum model is developed that explicitly couples these processes. Volume phase transition in hydrogels with homogeneous chemical reactions is investigated, then the effects of reaction kinetics on these transitions are analyzed. The coupling of these mechanisms is further explored through a study of transient mechanical instabilities. To illustrate the impact of distinct reaction and diffusion timescales, a photo‐active gripper is studied for robotic applications. Finally, a photo‐active microswimmer that exhibits non‐reciprocal motion is proposed to highlight the solvent diffusion for locomotion at the micro‐ and nano‐ scales. The work establishes that transient dynamics of chemo‐mechanical hydrogels generate functions not accessible by steady state models and provides a predictive platform for designing adaptive materials in emerging applications.

chemo-mechanical coupling↗
DOE OSTI2023

Millimeter-Thick Liquid Crystalline Elastomer Actuators Prepared by-Surface-Enforced Alignment

Here, liquid crystalline elastomers (LCE) are thermally cyclable, compliant actuators with compelling mechanical properties. The large and programmable deformation of LCE has led to numerous functional examinations spanning optics, medical devices, and robotics. A well-established method to prepare complex LCE actuators is to utilize surface-enforced photoalignment. Herein, a facile and scalable approach is reported to circumvent the physical limits of surface-enforced alignment (e.g., samples that are 50 µm or less) to amplify the achievable force output in LCE. Applying an approach termed direct layering, the thermomechanical response of LCE elements prepared with +1 disclination patterns in a range of compositions and thicknesses is contrasted. The design and preparation of +1 disclination patterns and arrays is explored to assess the contribution of sample geometry and overlap to deformation and force output. The methodology detailed in this contribution allows for the preparation of elements ≈1 mm in thickness that are capable of actuating large objects. Furthermore, the fabrication of these elements uniquely enables the realization of mechanical instabilities to hasten the actuation rate in response to thermal change and to enable leaping.

36 MATERIALS SCIENCE↗
DOE OSTI2018

Fabrication and Properties of Composite Artificial Muscles Based on Nylon and a Shape Memory Alloy

This paper focuses on the design, fabrication and investigation of the mechanical properties of new artificial muscles formed by twisting and annealing. The artificial muscles designed by twisting nylon have become a popular topic in the field of smart materials due to their high mechanical performance with a large deformation and power density. However, the complexity of the heating and cooling system required to control the nylon muscle is a disadvantage, so we have proposed a composite artificial muscle for providing a direct electricity-driven actuation by integrating nylon and a shape memory alloy (SMA). In this paper, the design and fabrication process of these composite artificial muscles are introduced before their mechanical properties, which include the deformation, stiffness, load and response, are investigated. The results show that these composite artificial muscles that integrate nylon and a SMA provide better mechanical properties and yield up to a 44.1% deformation and 3.43 N driving forces. The good performance and direct electro-thermal actuation make these composite muscles ideal for driving robots in a method similar to human muscles.

36 MATERIALS SCIENCE↗