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All sourcesNASA NTRSDOE OSTI
DOE OSTI2012

Russian Experience in the Regulatory Supervision of the Uranium Legacy Sites - 12441

Management of the uranium legacy is accompanied with environmental impact intensity of which depends on the amount of the waste generated, the extent of that waste localization and environmental spreading. The question is: how hazardous is such impact on the environment and human health? The criterion for safety assurance is adequate regulation of the uranium legacy. Since the establishment of the uranium industry, the well done regulatory system operates in the FMBA of Russia. Such system covers inter alia, the uranium legacy. This system includes the extent laboratory network of independent control and supervision, scientific researches, regulative practices. The current Russian normative and legal basis of the regulation and its application practice has a number of problems relating to the uranium legacy, connected firstly with the environmental remediation. To improve the regulatory system, the urgent tasks are: -To introduce the existing exposure situation into the national laws and standards in compliance with the ICRP system. - To develop criteria for site remediation and return, by stages, to uncontrolled uses. The similar criteria have been developed within the Russian-Norwegian cooperation for the purpose of remediation of the sites for temporary storage of SNF and RW. - To consider possibilities and methods of optimization for the remediation strategies under development. - To separate the special category - RW resulted from uranium ore mining and dressing. The current Russian RW classification is based on the waste subdivision in terms of the specific activities. Having in mind the new RW-specific law, we receive the opportunity to separate some special category - RW originated from the uranium mining and milling. Introduction of such category can simplify significantly the situation with management of waste of uranium mining and milling processes. Such approach is implemented in many countries and approved by IAEA. The category of 'RW originated from uranium mining and milling' is to be introduced as the legal acts and regulatory documents. The recent ICRP recommendations provide the flexible approaches for solving of such tasks. The FMBA of Russia recognizes the problems of radiation safety assurance related to the legacy of the former USSR in the uranium mining industry. Some part of the regulatory problems assumes to be solved within the EurAsEC inter-state target program 'Reclamation of the territories of the EurAsEC member states affected by the uranium mining and milling facilities'. Using the example of the uranium legacy sites in Kyrgyz and Tajikistan which could result in the tran-boundary disasters and require urgent reclamation, the experience will be gained to be used in other states as well. Harmonization of the national legislations and regulative documents on radiation safety assurance is envisaged. (authors)

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2012

Innovative Process for Comprehensive Treatment of Liquid Radioactive Waste - 12551

This paper presents the results of research activities aimed at creation of a principally new LRW distilling treatment method. The new process is based on the instantaneous evaporation method widely used in distillation units. The main difference of the proposed process is that the vapor condensation is conducted without using heat exchangers in practically ideal mode by way of direct contacting in a vapor-liquid system. This process is conducted in a specially designed ejector unit in supersonic mode. Further recuperation of excess heat of vaporization is carried out in a standard heat exchanger. Such an arrangement of the process, together with use of the barometric height principle, allows to carry out LRW evaporation under low temperatures, which enables to use excess heat from NPS for heating initial LRW. Thermal calculations and model experiments have revealed that, in this case, the expenditure of energy for LRW treatment by distilling will not exceed 3 kilowatt-hour/m{sup 3}, which is comparable with the reverse-osmosis desalination method. Besides, the proposed devices are 4 to 5 times less metal-intensive than standard evaporation units. These devices are also characterized by versatility. Experiments have revealed that the new method can be used for evaporation of practically any types of LRW, including those containing a considerable amount of oil products. Owing to arrangement of the evaporation process at low temperatures, the new devices are not sensitive to 'scale formation'. This is why, they can be used for concentrating brines of up to 500-600 g/l. New types of such evaporating devices can be required both for LRW treatment processes at nuclear-power plants under design and for treating 'non-standard' LRW with complex physicochemical and radionuclide composition resulting from the disaster at the Fukushima I Nuclear Power Plant.) As a result of accidents at nuclear energy objects, as it has recently happened at NPP 'Fukushima-1', personnel faces the necessity to take emergency measures and to use marine water for cooling of reactor zone in contravention of the technological regulations. In these cases significant amount of liquid radioactive wastes of complex physicochemical composition is being generated, the purification of which by traditional methods is close to impossible. According to the practice of elimination of the accident after-effects at NPP 'Fukushima' there are still no technical means for the efficient purification of liquid radioactive wastes of complex composition like marine water from radionuclides. Therefore development of state-of-the-art highly efficient facilities capable of fast and safe purification of big amounts of liquid radioactive wastes of complex physicochemical composition from radionuclides turns to be utterly topical problem. Cesium radionuclides, being extremely dangerous for the environment, present over 90% of total radioactivity contained in liquid radioactive wastes left as a result of accidents at nuclear power objects. For the purpose of radiation accidents aftereffects liquidation VNIIHT proposes to create a plant for LRW reprocessing, consisting of 4 major technological modules: Module of LRW pretreatment to remove mechanical and organic impurities including oil products; Module of sorption purification of LWR by means of selective inorganic sorbents; Module of reverse osmotic purification and desalination; Module of deep evaporation of LRW concentrates. The first free modules are based on completed technological and designing concepts implemented by VNIIHT in the framework of LLRW Project in the period of 2000-2001 in Russia for comprehensive treatment of LWR of atomic fleet. These industrial plants proved to be highly efficient and secure during their long operation life. Module of deep evaporation is a new technological development. It will ensure conduction of evaporation and purification of LRW of different physicochemical composition, including those containing hardness salts, resulted in generation of LRW concentrate 300-600 g/l. The method is based on utilization of supersonic ejector for intensification of thermal physic processes and performance of evaporation in brine recycling mode. All proposed technological solutions are totally based on patented Russian developments. Proposed work will allow to construct modular plants, which will be totally prepared for efficient purification of any types of liquid radioactive wastes from radionuclides in case of force majeure. According to proposed scheme concentration level of cesium radionuclides in safe-for-storage form will make up not less than 5000. With respect to purification from cesium radionuclides of liquid radioactive wastes stored at NPP 'Fukushima' about 10 t of inorganic sorbents, loaded in 160 protective filter-containers, will be required for solving this problem. The amount of secondary wastes will be reduced approximately in 5 times in comparison with traditional schemes, applied in purification of secondary LRW of Fukushima-1 by Areva (France) and Kurion (USA) companies. All units of modular plants will be constructed and manufactured as totally automated, providing their twenty-four-hour safe operation. Modular design will ensure efficiency and let optimize the costs of secondary LRW treatment. In order to ensure off-line operation in emergency conditions the plant should be equipped with auxiliary modules: energy and ventilation ones. Under normal conditions these modules can be stored in 'mothballed' condition at special warehouses under the authority of federal bodies. It will be reasonable to choose required transport facilities, the most suitable for transportation of modules to target destination beforehand, using vessel classification list.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2015

Multi-MGy Radiation Hardened Camera for Nuclear Facilities

There is an increasing interest in developing cameras for surveillance systems to monitor nuclear facilities or nuclear waste storages. Particularly, for today's and the next generation of nuclear facilities increasing safety requirements consecutive to Fukushima Daiichi's disaster have to be considered. For some applications, radiation tolerance needs to overcome doses in the MGy(SiO{sub 2}) range whereas the most tolerant commercial or prototypes products based on solid state image sensors withstand doses up to few kGy. The objective of this work is to present the radiation hardening strategy developed by our research groups to enhance the tolerance to ionizing radiations of the various subparts of these imaging systems by working simultaneously at the component and system design levels. Developing radiation-hardened camera implies to combine several radiation-hardening strategies. In our case, we decided not to use the simplest one, the shielding approach. This approach is efficient but limits the camera miniaturization and is not compatible with its future integration in remote-handling or robotic systems. Then, the hardening-by-component strategy appears mandatory to avoid the failure of one of the camera subparts at doses lower than the MGy. Concerning the image sensor itself, the used technology is a CMOS Image Sensor (CIS) designed by ISAE team with custom pixel designs used to mitigate the total ionizing dose (TID) effects that occur well below the MGy range in classical image sensors (e.g. Charge Coupled Devices (CCD), Charge Injection Devices (CID) and classical Active Pixel Sensors (APS)), such as the complete loss of functionality, the dark current increase and the gain drop. We'll present at the conference a comparative study between these radiation-hardened pixel radiation responses with respect to conventional ones, demonstrating the efficiency of the choices made. The targeted strategy to develop the complete radiation hard camera electronics will be exposed. Another important element of the camera is the optical system that transports the image from the scene to the image sensor. This arrangement of glass-based lenses is affected by radiations through two mechanisms: the radiation induced absorption and the radiation induced refractive index changes. The first one will limit the signal to noise ratio of the image whereas the second one will directly affect the resolution of the camera. We'll present at the conference a coupled simulation/experiment study of these effects for various commercial glasses and present vulnerability study of typical optical systems to radiations at MGy doses. The last very important part of the camera is the illumination system that can be based on various technologies of emitting devices like LED, SLED or lasers. The most promising solutions for high radiation doses will be presented at the conference. In addition to this hardening-by-component approach, the global radiation tolerance of the camera can be drastically improve by working at the system level, combining innovative approaches eg. for the optical and illumination systems. We'll present at the conference the developed approach allowing to extend the camera lifetime up to the MGy dose range. (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2015

Performance of a GM tube based environmental dose rate monitor operating in the Time-To-Count mode

The events at the Fukushima Daiichi power plant in the aftermath of a natural disaster underline the importance of a large array of networked environmental monitors to cover areas around nuclear power plants. These monitors should meet a few basic criteria: have a uniform response over a wide range of gamma energies, have a uniform response over a wide range of incident angles, and have a large dynamic range. Many of these criteria are met if the probe is qualified to the international standard IEC 60532 (Radiation protection instrumentation - Installed dose rate meters, warning assemblies and monitors - X and gamma radiation of energy between 50 keV and 7 MeV), which specifically deals with energy response, angle of incidence, dynamic range, response time, and a number of environmental characteristics. EcoGamma is a dual GM tube environmental gamma radiation monitor designed specifically to meet the requirements of IEC 60532 and operate in the most extreme conditions. EcoGamma utilizes two energy compensated GM tubes operating with a Time-To-Count (TTC) collection algorithm. The TTC algorithm extends the lifetime and range of a GM tube significantly and allows the dual GM tube probe to achieve linearity over approximately 10 decades of gamma dose rate (from the Sv/hr range to 100 Sv/hr). In the TTC mode of operation, the GM tube is not maintained in a biased condition continuously. This is different from a traditional counting system where the GM tube is held at a constant bias continuously and the total number of strikes that the tube registers are counted. The traditional approach allows for good sensitivity, but does not lend itself to a long lifetime of the tube and is susceptible to linearity issues at high count rates. TTC on the other hand only biases the tube for short periods of time and in effect measures the time between events, which is statistically representative of the total strike rate. Since the tube is not continually biased, the life of the tube is extended and the linearity is greatly improved. Testing has been performed at Pacific Northwest National Laboratory (PNNL) in the USA and confirms compliance to IEC 60532 as well as linearity (± 10%) up to 100 Sv/hr. Furthermore, a network of EcoGamma probes may be linked through available supervisory software to provide a dose rate map of an area. This allows for real time monitoring of dose rates from one (or multiple) remote locations. (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2017

High Dexterity Robotics for Safety and Emergency Response - 17104

Recently, significant advances in robotics have led to increased use in industrial and military applications. For example, the military has used explosive ordnance disposal (EOD) robots to enable responders to remotely investigate hazardous environments. While EOD robots have saved many lives, their utility is hampered by: 1) limited ability to manipulate complex objects and mechanisms (e.g. open a car door, operate power tools or turn valves), and 2) the requirement for significant operator training using joystick-type interfaces. Most robots today have simplistic manipulators and cannot easily operate in environments designed for humans as evidenced by the recent Amazon Picking Challenge and the DARPA Robotics Challenge. Simple tasks that humans perform easily, such as picking up objects or operating a cutting tool, require customized rigs that are expensive and time-consuming to use. The specialized nature of these robots limits their utility in highly unstructured environments, for example during emergency situations where a robot may need to be rapidly re-purposed for an unanticipated situation (i.e. the Fukushima nuclear disaster). Robots are needed that can perform complex human-like tasks and are easy to use for everyday and emergency tasks. In 2005 the Defense Advanced Research Projects Agency (DARPA) initiated the Revolutionizing Prosthetics (RP) Program with the goal of creating prosthetics as capable as the human arm and a human-machine interface enabling highly intuitive operation. The Johns Hopkins University Applied Physics Laboratory (JHU/APL) created the Modular Prosthetic Limb (MPL), originally developed for amputees and paralyzed individuals as part of the RP Program, to replicate the capability of the human hand and arm to the extent technologically possible. With 26 joints and over 180 sensors, it is one of the most sophisticated and fully integrated robotic arms in the world. We have also demonstrated human-machine interface techniques that are highly intuitive requiring minimal training. While the MPL was originally designed as a prosthetic, it has also been incorporated into mobile robotic systems to project human capability. Using tele-operation, we have demonstrated the ability to perform dual-arm remote operations in complex environments. For nuclear facilities, high dexterity robots combined with tele-operation offer the potential to enhance worker safety, productivity and quality. Safety enhancements include enabling remote operation in hazardous environments, remote handling of heavy or dangerous materials, and elimination of injury due to repetitive motions. Because the MPL is designed to function like a human limb, the robot can work in environments designed for humans with limited need for specialized tools. When used for routine operations, it can also maintain a level of familiarity and confidence that effectively accomplishes reinforcement training for use in emergency situations, unlike a specialized robot that might sit unused for months or years at a time. In August 2016 we demonstrated the use of the MPL at the Portsmouth Gaseous Diffusion Plant in Piketon, Ohio. Two robotic platform technologies were demonstrated to familiarize the DOE Emergency Management's (EM) workforce on the potential benefits of this technology. Here we present the results of those efforts, highlight the lessons learned during 'EM Week,' and outline potential future developments that could further advance application of these technologies to enhance worker safety. (authors)

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2017

Diamond dose rate detector testing at KURRI- A joint UK-Japan research project - 17126

Measurements of radiation dose rates in highly active environments, such as nuclear plant decommissioning or following a nuclear disaster, is challenging due to the extreme environments encountered and restricted access. Therefore, novel radiation detector technology is required to address these challenges. One such example of a radiation detection material is diamond, as it is able to withstand and measure high radiation intensities, is chemically inert and formable into extremely small, sensitive detectors. These detectors generate small currents when exposed to radiation, and if the radiation levels are high enough this can be measured. Testing of such detectors is not possible in routine laboratories due to the requirement to have high active radiation sources. However, through a new collaboration formed through the University of Bristol- Kyoto University bilateral symposia such facilities are accessible for UK researchers at Kyoto University Research Reactor Institute. This paper presents an overview of the collaborative research project, the accessible facilities for device manufacture and testing and some early results from radiation testing of diamond detectors at KURRI. (authors)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2017

Mitigation of Radioactive Waste by Sampling and Analyzing the Affected Area and Efficient Use of Different Detectors - 17139

The paper describes the ways by which the mitigation of the radioactive waste during events like decommissioning of nuclear plants, mines, other nuclear-related facilities and also in event of nuclear disaster is done, so that the rehabilitation process for flora and fauna can begin in a natural manner. There are many parameters that have to be kept in mind during the planning stage of environmental remediation (ER), as there are many hindrances and snags that might occur during environmental remediation and rescue operation. The paper describes the problems faced during ER operations in the developing countries and needs of international committees. The paper emphasizes proper site characterization and suggestions for it, and suggests simultaneous detection of various activity of radionuclides dispersed and the need for proper knowledge and handling in ER operations. It describes how the radioactivity can be an interference in detection and the importance of low-level activity. The paper describes why site characterization should be quick and prior to other important key points during rescue operations. Also, it gives a description of various detectors used widely and their related significance in ER. The paper describes the strategy on how after site surveying the input can be used to map an area, as to provide easy operation and working conditions for personnel, and how it can be helpful in the evaluation of other parameters. The paper also gives suggestions on the use of bio-indicators in above described events and their benefits. (authors)

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

Mitigation of Radioactive Waste By Sampling and Analyzing The Affected Area and Efficient Use of Different Detectors - 17400

The paper summarizes the way by which the mitigation of the radioactive waste during events like decommissioning of nuclear power plants, or during a nuclear disaster can be done so that the rehabilitation process for flora and fauna can begin in a natural manner. The paper describes the problems faced during ER operations in the developing countries and need of international committees in these areas. The paper suggests marking of the radioactive areas which can be used for controlled personnel access and which can be useful for monitoring purposes, while also focusing on the need of proper knowledge while handling detectors in ER operations for successful site characterization. It also highlights the importance of bio-indicators in these operations and also gives a description of various detectors used widely and their related significance for ER operations. The paper gives an overview of the planning and site characterization stages that follow in the environmental remediation. Planning stage should consider: 1. The impact on the ecosystem and human beings and the risk of spreading of the radionuclides. 2. The financial aid in hand for detectors, machinery and skilled labor. As the planning stages develop, the very first thing is the survey of the site. Site investigation should be carried out in all aspects including meteorology, geology, and hydrology, seismicity, geomorphology and the other aspects depending on site for a certain period of time. A site characterization should take: 1. The amount of damage occurred to the environment in the nearby region. 2. The distribution, character and the extent to which radioactivity has been dispersed. 3. The amount of risk that will be involved for personnel working in the field. 4. The precision of data collected that is to be used as input for further processes. In the developing countries, the central governmental bodies play a pivotal role in providing funds internally or from international bodies. The paper shows the effect how political issues effect the work progress of ER operations, that hamper the process and make people frustrated, who really work on the field. Paper provides the suggestion for the proper use of detectors in these countries where surveyors lack knowledge on what kind of detectors to be used while taking precision as a parameter. The table beside gives just a small picture of the large variety of detectors available today and tries to summarizes the main detectors with applications. There should also be a proper marking of the areas into different levels of radiation that will be helpful for work access control and monitoring personnel health. The paper also suggests of using bio-indicators in ER operation more often. The paper proposes to use site-specific bio-indicators which are very helpful in knowing the proper effect of the event in the environment. There is no single paved path for every situation that can lead to a successful ER. The planning should be done in such a way that the future work is not disturbed due to technical problems. In developing countries, political issues can hamper the progress of work and time remains a critical issue in such areas. The lack of proper knowledge for the use of detectors can affect the outcome of site characterization. Areas of the survey should be marked with different levels of activity for efficient monitoring of personnel's. The use of bio-indicators should be used more often and should be chosen as per the site. As they are a helpful tool in evaluating the work progress. (authors)

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

Water Sealing With NOH{sub 2}O on the Fukushima Site - 17477

The Fukushima Daiichi nuclear site is still recovering from the natural disaster of March 11, 2011. Much of the recent recovery work has been focused on mitigating ground water intrusion into the radioactively contaminated basements of the reactor and turbine buildings of units 1 - 4. Other recovery efforts involve potentially sealing the vent lines in the primary containment vessels of units 1 - 3 to maintain a flooded vessel for core cooling and shielding. This paper details preliminary test results of a proprietary grout - NOH{sub 2}O{sup TM} - in sealing/plugging those vent lines to allow flooding of the primary containment vessel. Several partial and full-scale tests were conducted on primary containment vessel vent line mock-ups between March and October 2015 to ascertain the effectiveness of NOH{sub 2}O in sealing vent lines that have flowing water, which is problematic for conventional cement-based grouts that require relatively protracted set times. In contrast, NOH{sub 2}O can be used with a proprietary accelerant to provide instant set. The other key advantage of NOH{sub 2}O is its ability to penetrate even the smallest of cracks and porous soils, following and moving with the water flow and creating a continuous, impermeable barrier. It is also extremely flexible once set, conforming to its enclosure as upstream water head increases. Finally, the material's extremely high radiation resistance and longevity make it an ideal candidate for a permanent solution in high rad environments. (authors)

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

NitroJet{sup R}'s Verification Test of Contaminated Water Storage Tank Decontamination in Fukushima Daiichi Nuclear Power Plant - 16489

After the Fukushima Daiichi nuclear disaster, much radioactively contaminated water has generated and has been stored into tanks in the site. Therefore, these contaminated water storage tanks (flange-type) are severely required to be decontaminated in order to be dismantled or to be reused to store cleaner water with less radioactive liquid waste and exposure of workers. Then, IHI Corporation (hereinafter, IHI) have verified that NitroJet{sup R} had capability to decontaminate these tanks under governmental grant (the Validation of technologies for contaminated water management project in the FY2013 Supplementary Budget). For this verification, IHI achieved acquiring DF (decontamination factor) by fabricating radioactive partial mock-ups with Rb-86. Moreover, IHI have demonstrated remote operation of decontamination work by using tank's partially full-scale mock up. (authors)

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

Panel reports session

This section brings together the reports of the 31 panel sessions listed below: - Avoiding the Human Capital Cliff in the DOE (PS22); - Implementing Technically-Based Cleanup; US DOE Balancing Regulatory and Fiscal Complexity (PS24); - United Kingdom - Remediation of Sellafield Legacy Ponds and Silos (PS25); - Aligning Decision-Making to Deliver Timely Results in Large Clean-up Programs (PS38); - Transition to Government Owned-Contractor Operated Site at Canadian Nuclear Laboratories (PS39); - Emerging Middle East Nuclear States' Status and Plans (PS40); - NPP Panel on Waste Management (PS41); - Robotics - International Innovations in Robotic Decommissioning Technology (PS43); - Fukushima Panel (1/2): Japan Fukushima Daiichi Decommissioning Update (PS54); - Fukushima Panel (2/2): Update on the Revitalization of Fukushima and the Surrounding Area (PS55); - US DOE LLW On-Site Disposal: LLW Disposal Facility Federal Review Group Review Process (PS56); - Challenges in DOE HLW Tank Management: Facility Start-up and Waste Disposition (PS57); - Waste Management Planning for Utility Small Modular Reactors (PS58); - US Nuclear Power Plant Waste Management - LLW Disposal Issues (PS59); - DOE-EM Robotics and Emerging Technologies Road-map (4/8) (PS60); - Graduating Students and New Scientists and Engineers - Wants and Needs - Are Companies Even Listening? (PS63); - U.S. Nuclear Robotics: Yesterday, Today, Tomorrow (5/8) (PS74); - US DOE Mixed Waste: Proposals for Dealing with Problematic Waste Streams and Policy Changes (PS76); - Current and Emerging US NRC LLW Regulatory Topics (PS77); - Agency Perspectives (US and International) on the Use of Risk and Dose Assessment Tools (PS80); - Progress on Deep Repository Programs Around the World (PS81); - US DOE Procurement and Contracting Opportunities (PS82); - Collaboration across Borders to Deliver Cleanup and Decommissioning Challenges (PS93a); - DOE Mission Success through Application of Practices and Solutions (PS94); - Challenges in Cask Certification - International Perspectives (PS96); - Robotics: Leveraging Innovations in Science and Technology to Benefit Safety Performance (PS98); - DOE Panel: DOE EM Featured Office - Portsmouth/Paducah Project Office (PS109); - Robotics: Lessons Learned from Industrial Robotics Deployment that can be Applied to the Nuclear Field (PS110a); - Roundtable: DOE Radioactive Management - Energy Facility Contractors Group - Waste Management Working Group (EFCOG WMWG) (PS118); - Thursday Topical Session 'Management of Used Nuclear Fuel: Will the United States Reengage and Align with International Efforts' (PS124); - Remotely Operated Vehicles for Emergency, Disaster, and Operational Upset Response (PS125)

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

TeMoto 2.0: Source Agnostic Command-to-Task Architecture Enabling Increased Autonomy in Remote Systems - 18438

Tele-operated robots provide safe means for executing tasks in hazardous environments such as underground mines, space, disaster and legacy nuclear facility decommissioning sites, etc. The desire to use these systems in increasingly complex and dynamic environments presents a variety of technical and educational challenges including (i) insufficient field knowledge of system developers, (ii) restricted data bandwidth, and (iii) insufficient operator situational awareness. Lack of field knowledge is commonly addressed by actively educating robotics engineers in the perspective areas. The Nuclear Robotics Group (NRG) at the University of Texas at Austin trains students to have the necessary skill and knowledge in both the robotic and nuclear domains. To address the second two deficiencies, the NRG has developed TeMoto: a speech and hand gesture based supervisory teleoperation software. TeMoto addresses several chronic technical issues associated with most teleoperation systems including the operator's situational awareness, communication delays and interface intuitiveness. This paper reviews recent efforts to update and extend the TeMoto architecture (TeMoto 2.0) to support more complex semi-autonomous behaviors and eliminate the unnecessary and confining concept of a human interface as a separate component from the rest of the robot's sensors and actuators. This paper outlines the key architectural changes and demonstrations using a dual-arm mobile manipulator to complete semi-autonomous tasks. (authors)

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

Analysis of the Impact of Radiation on Cameras and Robotic Perception - 19242

Robotic systems are increasingly used for inspection, maintenance, and disaster assistance for nuclear power plants. These robots utilize increasingly high levels of autonomy to operate in environments that are unsafe for humans to operate the robot in or require more precise control over the robot than a human can offer. In these cases, the robot must include perception and computation components to autonomously sense and navigate through the environment to fulfill its mission. This difficult task is complicated by radiation interfering with sensors' operation. The impact of this interference is largely unexplored, as existing works on radiation interference on sensors focus on estimating the incident radiation, rather than how it impacts a robotic system using the sensor. In this work, we seek to quantify and describe the impact of radiation on cameras, and how the radiation affects robotic performance. In this paper we study cameras that are suitable for small, lightweight unmanned aerial vehicles (UAVs) that are increasingly deployed to fly in confined areas in emergencies, where the surrounding environment is unsafe for workers to operate. These small UAVs lack the payload capacity to carry significant radiation shielding, so any onboard sensors will be affected by radiation. In the case of cameras, this radiation appears as noise in the camera imagery. This noise will interfere with the UAV's operation, by obscuring obstacles and interfering with localization and optical flow algorithms that detect detailed features in the environment. To date, there is a lack of information on how the radiation noise in the camera image impacts the overall robot system performance Existing work focuses on estimating the amount of incident radiation by measuring the corruption in the images. However, these works suffer several shortcomings for robotic systems. First, a robot must be able to successfully navigate its environment during a successful mission, and merely quantifying the amount of radiation noise in an image does not adequately explain how it may interfere with higher level navigation and perception tasks. Second, radiation estimation procedures rely on focusing the camera on a known and static background. This is unsuitable for robotic exploration tasks, where the robot frequently moves around an unknown environment that may be dynamically changing. Our work contains two contributions that address these shortcomings. First, we conduct a detailed analysis of the noise radiation causes in cameras by exposing cameras that are commonly used on UAVs [e.g., small form factor complementary metal-oxide-semiconductor (CMOS) cameras] to varying levels of radiation that may be present in emergency scenarios. From this exposure, we quantify not only how much noise is present, but quantify its appearance. By quantifying the appearance and amount of noise in a camera image, researchers can design mitigation strategies for the corruption, so that their robotic systems can operate in these challenging environments. Second, we demonstrate how to leverage this experimental data in robotic simulations. Using data from the first set of experiments allows us to test and verify the robots in simulation. Using simulators allows us to verify the robots will perform as expected during critical times without needing expensive test equipment or damaging valuable robot prototypes. Other researchers using robots for exploration of irradiated environments will benefit from our research by incorporating similar noise models in their research. 1 Southwest Research Institute{sup R} is a registered trademark of Southwest Research Institute in the United States and/or other countries. This will increase the reliability of robotic systems prior to deployment in emergency situations, which will in turn increase their effectiveness and speed the development of robots that would otherwise need expensive and time-consuming test procedures to validate. (authors)

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

Value Based Decision Approach to Help Inform Waste Management Guidance for VLLW Following an RDD Detonation - 19510

The detonation of a radiological dispersal device in an urban environment or similar large-scale radiological event has the potential to spread radioactive contamination over a large area. The resulting effort to clean up and dispose of this waste will involve input and coordination from a wide variety of stakeholder groups, especially if the waste crosses municipal and state boundaries. Guidance designed to help effectively and safely deal with the wastes generated from incident cleanup will need to navigate the intersection of stakeholders at the local, regional, and national levels. At the same time, the sheer size of such a cleanup effort and the volumes of wastes generated will require innovative and potentially novel solutions compared to current Low-Level Radioactive Waste disposal practices. A structured decision-making approach incorporating value-focused thinking is one method that could be employed to help build stakeholder confidence in a given cleanup guidance strategy and documentation. This approach would help ensure that all stakeholder perspectives were accounted for in a given decision situation and to promote transparency in the decision-making process. This paper will discuss research into the role and development of a public stakeholder tool used to gather input from relevant stakeholders in order to help inform cleanup and disposal guidance of Very Low-Level Radioactive Waste following a radiological disaster. This tool is being designed to draw on aspects of value-focused decision making. Case studies from two prominent recent events will be discussed to illustrate some of the key issues that could benefit from such an approach to stakeholders. (authors)

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

Tank Closure Cesium Removal at Savannah River Site - 19604

Savannah River Remediation (SRR) has developed a supplemental at-tank ion exchange capability for the removal of cesium from liquid salt waste. Building on the development of previous ion exchange initiatives and the experience of commercial nuclear plant decontamination services, and following the disaster response associated with Fukushima, the technology has matured to deploy a modular at-tank treatment system for the selective removal of cesium from bulk salt waste. If feasible, this Tank Closure Cesium Removal (TCCR) initiative would provide a supplemental treatment capability to existing and future salt processing and improve confidence in supporting the desired acceleration of waste retrieval and tank closure efforts. In addition to accelerating waste retrieval and tank closure activities, demonstration of this capability has several other benefits. Deployment of commercially available technologies with minor modification can expand Department of Energy (DOE) utilization of commercially supplied treatment processes. This 'at-tank' treatment system could be modified to evaluate and demonstrate removal of other radioactive constituents (strontium, technetium, iodine, etc.) of bulk waste. The modular aspect of this capability can allow for additional units to be delivered and deployed at SRS, as well as, provide supplemental treatment capabilities for waste treatment at other DOE sites. (authors)

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

Remediation of Irradiated Graphite Using Microorganisms Isolated from Oil Contaminated Soil - 19643

The deployment of nuclear energy globally is hindered by the fear cleared by nuclear reactor disasters such as the Chernobyl and Fukushima reactor meltdowns. Additionally, accumulation of radioactive waste globally will, in the near future, present a significant threat to humans and the environment. Notably, the majority of nuclear waste from the energy generation industry is generated as Low Level Waste (LLW) in which the small radioactive component renders the bulk of the waste unsuitable for conventional treatment and disposal. In the case of radioactive graphite, the small radioactive component comprising radiocarbon-14 (C-14) and metallic pollutants can be removed to allow safe disposal or reuse as of the graphite. In the current study, mixed-cultures of organisms isolated from oil contaminated sites showed potential of selective bioaccumulation of C-14 from a powdered C-12/C-14 graphite matrix. The study was conducted in a continuously mixed reactor (growth vessel) constructed from Pyrex panels (30 cm x 20 cm x 15 cm) with finely ground graphite as the principal carbon source (1500-2000 mg.L{sup -1}) and spikes of glucose (500 mg.L{sup -1} every 48 hours). The growth vessel was connected to a biofilter unit by submersible pump where particulate matter was isolated for further analysis. Results showed that approximately 68% more C-14 was released from ignited dry cells than from respiration product. C-14 accumulated in cells corrected using a trap filter system, with a marked decrease of C-14 in carbon dioxide than vegetative suspended cells in the main tank. The only mechanism that could account for the differential C-14 distribution between the liquid medium and cells was possible fractionation during uptake of carbon compounds. The discriminating factor suggested in this study is the kinetic isotope effect (KIE) which allows heavier atoms to have different affinities for reaction sites on catalysis and biocatalysis. (authors)

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

Thermal Conductivity and Diffusivity for SiC Fibers for Use in ATF Cladding Composites

As part of the accident tolerant fuels (ATF) initiative, there is a need to understand the thermophysical properties of cladding for these fuels. One potential cladding material is silicon carbide (SiC) ceramic matrix composite reinforced with SiC fibers because of the corrosion resistance, resistance to hydrogen formation, high bulk thermal conductivity, and favorable mechanical properties of SiC. However, data about the thermal properties of individual SiC fibers in these composites is absent in the literature. This paper presents the measured axial thermal conductivity and thermal diffusivity of a leading SiC fiber (HiNicalon Type S) via a thermal measurement technique (transient electrothermal technique, TET) optimized for thin fibers. The results show that the measured properties are significantly lower than bulk values for SiC. Because of the low neutron absorption, as well as excellent thermal and mechanical properties, zircaloy has primarily been used for the fuel cladding in many nuclear reactors. A major drawback of the zircaloy is its hydrogen generation vulnerability. This issue has been known for some time, but the explosion of hydrogen accident in the Fukushima Daiichi nuclear disaster has motivated efforts for accident tolerant fuels (ATF) and their cladding as suitable substitutes for zircaloy. Fuel cladding made of silicon carbide (SiC) ceramic matrix composite (CMC) is an attractive alternative to the zircaloy. Investigation on the tubular monolithic a-SiC polytropes indicates that it has superior oxidation (hydrogen production) resistance (three orders of magnitude slower) than zircaloy. Additionally, it has well-documented, favorable mechanical properties, along with high temperature corrosion resistance. However, its bulk thermal properties can vary significantly depending on polytrope, the grain size, grain boundary, or impurities. At room temperature, SiC has a thermal conductivity as high as 490 Wm{sup -1}K{sup -1}, where the {sup 6}H polytrope has the highest conductivity. Thermal measurements of the SiC CMC are usually accomplished by laser flash method for thermal diffusivity (a) and thermal conductivity is indirectly calculated through the relationship k=aρcp. Depending on the manufacturing method and the reinforced fiber, the composite thermal conductivity varies from <10 Wm{sup -1}K{sup -1} to ∼70 Wm{sup -1}K{sup -1}. While the flash method is convenient for the measurement of the composite, it is difficult to apply to the measurement of individual fibers. Because of this, the thermal properties of individual SiC fibers is not present in the literature. Because the SiC fiber manufacturing process is different than that of the SiC matrix in the CMC, the properties of the bulk material might be erroneous when applied to the fiber. Being able to measure the fiber properties independently and directly allows for an understanding of the effect of the manufacturing process on the fiber and the opportunity to potentially improve or control the thermal properties of the composite. This improved accuracy can be achieved by measuring the fiber with a technique optimized for individual fiber measurement, known as the Transient Electrothermal Technique or TET. This paper presents the thermal conductivity and diffusivity of a leading SiC fiber (HiNicalon Type S). Measurements are performed with the TET, with the resulting properties being significantly lower than the bulk values of SiC, which is one possible explanation for relatively low CMC values. (authors)

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2017

Exploring the Use of Muon Momentum for Detection of Nuclear Material Within Shielded Spent Nuclear Fuel Dry Casks

The inspection of the storage containers that house used nuclear fuel is an important issue facing the nuclear industry; currently, there are limited options available to provide for even minimal inspections. During the long storage life of the fuel, intermediate handling and transportation activities may take place that can create concerns regarding fuel integrity (safety) and continuity of knowledge (safeguards and security). Accidents and natural disasters also contribute to this concern. The reliable and safe management of used nuclear fuel is among the critical tasks to be addressed for the advancement of fission-based nuclear energy in the United States and elsewhere. Since the early 1950's, when the first nuclear power plant began to produce electricity, approximately 65,000 metric tons of used nuclear fuel have been generated in the United States. The postponement of the opening of a permanent repository until 2048 will lead to increased used fuel accumulation at reactor sites. A rapid increase in storage installations with more than 9,000 casks storing {approx}420,000 assemblies is anticipated by 2050 even if no new nuclear power plants are built. After used nuclear fuel has been placed inside a cask, the cask is sealed, not allowing for visual inspection. Conventional methods, e.g., x-rays, are limited in that they cannot penetrate dense, well-shielded objects. More sophisticated techniques, such as penetrating neutrons or proton radiography, require the use of an expensive accelerator. Efforts by Ziock et al. using neutron and gamma-ray imagers concluded that '...the signatures are deemed insufficient to uniquely identify individual casks of the same type...'. It was found that the gamma-ray and neutron images were dominated by diffusion and thermalization effects resulting from the large amount of shielding. One promising mode of inspection would use cosmic-ray muons. These muons are naturally generated, are able to penetrate dense materials, and are incident from all directions above the horizon. Tomography performed using these muons could potentially provide efficient, inexpensive, remote assessment of used nuclear fuel. However, current muon applications are limited in that they have not included momentum measurement. If momentum measurement could be incorporated, that would represent a big step forward because it would allow more accurate estimation of the muon observables, e.g., scattering variance. This approach has the potential to reconstruct the contents of a cask with improved resolution and identify partial defects, fuel assemblies, and individual fuel rods.

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