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Control and applications of cooperating disparate robotic manipulators relevant to nuclear waste management

Remote handling in nuclear waste management requires a robotic system with precise motion as well as a large workspace. The concept of a small arm mounted on the end of a large arm may satisfy such needs. However, the performance of such a serial configuration lacks payload capacity which is a crucial factor for handling a massive object. Also, this configuration induces more flexibility on the structure. To overcome these problems, the topology of bracing the tip of the small arm (not the large arm) and having an end effector in the middle of the chain is proposed in this paper. Also, control of these cooperating disparate manipulators is accomplished in computer simulations. Thus, this robotic system can have the accuracy of the small arm, and at the same time, it can have the payload capacity and large workspace of the large arm.

Lew, Jae Young

An analysis of the technical status of high level radioactive waste and spent fuel management systems

The technical status of the old U.S. mailine program for high level radioactive nuclear waste management, and the newly-developing program for disposal of unreprocessed spent fuel was assessed. The method of long term containment for both of these waste forms is considered to be deep geologic isolation in bedded salt. Each major component of both waste management systems is analyzed in terms of its scientific feasibility, technical achievability and engineering achievability. The resulting matrix leads to a systematic identification of major unresolved technical or scientific questions and/or gaps in these programs.

English, T.

An analysis of the back end of the nuclear fuel cycle with emphasis on high-level waste management, volume 1

The programs and plans of the U.S. government for the "back end of the nuclear fuel cycle" were examined to determine if there were any significant technological or regulatory gaps and inconsistencies. Particular emphasis was placed on analysis of high-level nuclear waste management plans, since the permanent disposal of radioactive waste has emerged as a major factor in the public acceptance of nuclear power. The implications of various light water reactor fuel cycle options were examined including throwaway, stowaway, uranium recycle, and plutonium plus uranium recycle. The results of this study indicate that the U.S. program for high-level waste management has significant gaps and inconsistencies. Areas of greatest concern include: the adequacy of the scientific data base for geological disposal; programs for the the disposal of spent fuel rods; interagency coordination; and uncertainties in NRC regulatory requirements for disposal of both commercial and military high-level waste.

Source record

Application of gaseous core reactors for transmutation of nuclear waste

An acceptable management scheme for high-level radioactive waste is vital to the nuclear industry. The hazard potential of the trans-uranic actinides and of key fission products is high due to their nuclear activity and/or chemical toxicity. Of particular concern are the very long-lived nuclides whose hazard potential remains high for hundreds of thousands of years. Neutron induced transmutation offers a promising technique for the treatment of problem wastes. Transmutation is unique as a waste management scheme in that it offers the potential for "destruction" of the hazardous nuclides by conversion to non-hazardous or more manageable nuclides. The transmutation potential of a thermal spectrum uranium hexafluoride fueled cavity reactor was examined. Initial studies focused on a heavy water moderated cavity reactor fueled with 5% enriched U-235-F6 and operating with an average thermal flux of 6 times 10 to the 14th power neutrons/sq cm-sec. The isotopes considered for transmutation were I-129, Am-241, Am-242m, Am-243, Cm-243, Cm-244, Cm-245, and Cm-246.

Schnitzler, B. G.

Aerospace technology and commercial nuclear power; Proceedings of the Workshop Conference, Williamsburg, VA, November 18-20, 1981

An attempt has been made to compare the technologies, institutions and procedures of the aerospace and commercial nuclear power industries, in order to characterize similarities and contrasts as well as to identify the most fruitful means by which to transfer information, technology, and procedures between the two industries. The seven working groups involved in this study took as their topics powerplant design formulation and effectiveness, plant safety and operations, powerplant control technology and integration, economic and financial analyses, public relations, and the management of nuclear waste and spent fuel. Consequential differences are noted between the two industries in matters of certification and licencing procedures, assignment of responsibility for both safety and financial performance, and public viewpoint. Areas for beneficial interaction include systems management and control and safety system technology. No individual items are abstracted in this volume

Grey, J.

Space disposal of nuclear wastes. Volume 1: Socio-political aspects

The history and interpretation of radioactive waste management in the U.S., criteria for choosing from various options for waste disposal, and the impact of nuclear power growth from 1975 to 2000 are discussed. Preconditions for the existence of high level wastes in a form suitable for space disposal are explored. The role of the NASA space shuttle program in the space disposal of nuclear wastes, and the impact on program management, resources and regulation are examined.

Laporte, T.

Evaluation of conventional power systems

The technical, economic, and environmental characteristics of (thermal, nonsolar) electric power plants are reviewed. The fuel cycle, from extraction of new fuel to final waste management, is included. Emphasis is placed on the fossil fuel and nuclear technologies.

Smith, K. R.

Troika partnership model for licensing NASA-LaRC technologies

The Technology Applications (TAG) Group at NASA Langley Research Center has currently more than 100 technologies that are ripe for commercialization. These technologies are categorized by various sectors including: Energy and the Environment; Materials and Structures; Manufacturing; Information and Communications; Transportation, and Medical/Sensor/ Instrumentation. A requirement that TAG has placed on all technologies ready for licensing is that there will be some university involvement in the technology transfer or knowledge transfer process. This model involves the troika of government (LaRC), industry and university. A number of variations on the Troika Partnership Model (TPM) were developed as a part of this ASEE Fellowship. Furthermore, five technologies were identified - three of which industrial interests have been matched: LaRC-SI, a thermoplastic that can be used as a coating; Variable Geometry Truss Manipulator Arm that can be used for nuclear waste clean -up and as scaffolding; and ADAPT (Approach to Data Management, Archive Protection, and Transmission) is a technology that could be used for a variety of multi-tasking operations over the Internet. The aim of this work was to initiate a Space Act Agreement (SAA) for at least one of these technologies using one of the options of the TPM. A preliminary partnership agreement using the SAA is currently being negotiated with NASA-LaRC, VPI and Virginia Power for the LaRC-SI thermoplastic that will be used as a coating.

Maclin, Arlene P.

Nuclear Power Concepts for High-Power Electric Propulsion Missions to Mars

Under the Mars Transportation Assessment Study, NASA and DOE are performing analyses and generating concepts for crewed Nuclear Electric Propulsion (NEP) missions to Mars. This paper presents the results of trade studies and concept development for the nuclear electric power system, consisting of the fission reactor, radiation shielding, power conversion, heat rejection and power management & distribution (PMAD). The nuclear power team completed trade studies to evaluate different reactor and power conversion technologies and developed preliminary concepts for the crew shielding, waste heat radiators, and PMAD. The initial results suggest that a modified terrestrial microreactor combined with supercritical CO2 Brayton conversion could be used to perform the crew and cargo missions with satisfactory performance and modest risk.

Lee Mason

Nuclear Power Concepts and Development Strategies for High-Power Electric Propulsion Missions to Mars

Under the Mars Transportation Assessment Study (MTAS), NASA and the Department of Energy are performing analyses and generating concepts for crewed nuclear electric propulsion (NEP) missions to Mars. This report presents the results of trade studies and concept development for the nuclear electric power system, consisting of the fission reactor, radiation shielding, power conversion, heat rejection, and power management and distribution (PMAD). The nuclear power team completed trade studies to evaluate different reactor and power conversion technologies and developed preliminary concepts for the crew shielding, waste heat radiators, and PMAD. The initial results suggest that a modified terrestrial microreactor combined with supercritical CO2 Brayton conversion could be used to perform the crew and cargo missions with satisfactory performance and modest risk. The report includes preliminary development strategies that could bring the NEP technology to fruition for Mars missions in the late 2030s or early 2040s.

Lee S. Mason

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications.

Erickson, Jon D.

NASA Utilization of Space Nuclear Systems for Robotic and Human Exploration Missions: Response to EO 13972: Promoting Small Nuclear Reactors for National Defense and Space Exploration

Space Nuclear Systems (SNS) technology development offers a wide range of capabilities to support NASA’s current and future missions. Executive Order (EO) 13972, “Promoting Small Modular Reactors for National Defense and Space Exploration” [1], issued 5 January 2021, directs NASA to define requirements for NASA utilization of nuclear energy systems for human and robotic exploration missions through 2040 and analyze the costs and benefits of such requirements.” Although it is premature to define requirements and cost for future exploration missions that have not yet been formulated, this report describes planned objectives and missions by 2040 that are enabled or enhanced by nuclear systems while taking into account a number of unique considerations for nuclear energy in the space environment. Nuclear energy systems are enabling for space missions and critical capabilities where conventional forms of energy production are impractical or impossible due to mass constraints, mission duration, or distance from the Sun. Space nuclear technologies available or in development for use by 2040 utilize radioisotope decay or nuclear fission and fall into three categories: heat, power, and propulsion. Current applications utilize radioisotope power systems that provide consistent and reliable performance in the sub-kilowatt power range. More advanced SNS can enable new mission objectives where high energy density solutions are critical, or where access to solar solutions is prohibitive. Higher power radioisotope and fission systems are under development within NASA for a wide variety of human exploration and science mission applications. Planned missions designed to use radioisotope systems include Dragonfly, a rotorcraft that will explore the surface of Titan, and Persephone, a mission concept for a Pluto orbiter. Nuclear fission systems have the key advantage of providing significantly higher power, lower mass solutions from tens to even thousands of kilowatts. Fission power is enabling to a sustained human presence on the Moon and developing a robust lunar economy. Fission propulsion is enabling for missions within and beyond cis-lunar space. This report examines NASA-envisioned mission applications and associated performance needs for SNS over the next twenty years leading to 2040 along with the unique technical considerations posed by space nuclear technology development. This includes engineering and operational logistics for ground handling, thermal management, survival of the space environment, operational safety, power requirements, and service longevity. Safety to the public, the NASA work force, and agency assets remains a top priority for NASA and particular attention is given to this aspect in the design, hardware assembly, ground operation, launch, and mission operation of an SNS. NASA relies on the Department of Energy as nuclear authority and its legacy of rigorous safety procedures as standards for ground development, test, transportation, and launch site operation. The principal concern is preventing unintended radiological release to the public or environment. Radioisotope system experience has established processes, including ground operation, transportation, and launch, that are considered directly applicable to emerging fission systems; however, fission systems have unique design needs that impact the safety and performance requirements. High efficiency power conversion from both fission and radioisotope systems requires high operating temperatures necessitating both passive and active thermal management to maintain safe and nominal operating conditions. Effective cooling and waste heat rejection have special considerations for space applications, whether in zero-g or reduced gravity. Fluid and heat transfer within the reactor system is not anticipated to be impacted by reduced or zero-g environments. Cryogenic working fluids and propellant supplies utilized in some space nuclear applications will need low mass, high capacity cryocoolers to meet the long-term storage and near zero-boiloff needs. Integrated, high power density SNS capable of being packaged in a single vehicle is a key consideration for NASA. Due to concerns for complexity and reliability, in space reactor assembly and reactor refueling are not current design considerations. Expanding into a new era for space exploration depends on mass-efficient, high-energy solutions to power deep-space vehicles, operate in harsh environments, and increase mission flexibility. NASA nuclear technology investments are targeting power for surface operations and propulsion for fast-transit, deep-space missions, all with the ability to reliably operate without the need for repair or refueling. NASA’s goals, enabled by nuclear technologies, provide for exciting advances in scientific objectives and human exploration, ushering in a new space age that enables a human presence on bodies beyond our Earth.

nuclear

US Department of Energy's Efforts in Intelligent Processing Equipment

The Department of Energy (DOE) uses intelligent processing equipment (IPE) technologies to conduct research and development and manufacturing for energy and nuclear weapons programs. This paper highlights several significant IPE efforts underway in DOE. IPE technologies are essential to the accomplishment of DOE's missions, because of the need for small lot production, precision, and accuracy in manufacturing, hazardous waste management, and protection of the environment and the safety and health of the workforce and public. Applications of IPE technologies include environmental remediation and waste handling, advanced manufacturing, and automation of tasks carried out in hazardous areas. DOE laboratories have several key programs that integrate robotics, sensor, and control technologies. These programs embody a considerable technical capability that also may be used to enhance U.S. industrial competitiveness. DOE encourages closer cooperation with U.S. industrial partners based on mutual benefits. This paper briefly describes technology transfer mechanisms available for industrial involvement.

Peavy, Richard D.

Waste management technology development and demonstration programs at Brookhaven National Laboratory

Two thermoplastic processes for improved treatment of radioactive, hazardous, and mixed wastes were developed from bench scale through technology demonstration: polyethylene encapsulation and modified sulfur cement encapsulation. The steps required to bring technologies from the research and development stage through full scale implementation are described. Both systems result in durable waste forms that meet current Nuclear Regulatory Commission and Environmental Protection Agency regulatory criteria and provide significant improvements over conventional solidification systems such as hydraulic cement. For example, the polyethylene process can encapsulate up to 70 wt pct. nitrate salt, compared with a maximum of about 20 wt pct. for the best hydraulic cement formulation. Modified sulfur cement waste forms containing as much as 43 wt pct. incinerator fly ash were formulated, whereas the maximum quantity of this waste in hydraulic cement is 16 wt pct.

Kalb, Paul D.

Power system technologies for the manned Mars mission

The high impulse of electric propulsion makes it an attractive option for manned interplanetary missions such as a manned mission to Mars. This option is, however, dependent on the availability of high energy sources for propulsive power in addition to that required for the manned interplanetary transit vehicle. Two power system technologies are presented: nuclear and solar. The ion thruster technology for the interplanetary transit vehicle is described for a typical mission. The power management and distribution system components required for such a mission must be further developed beyond today's technology status. High voltage-high current technology advancements must be achieved. These advancements are described. In addition, large amounts of waste heat must be rejected to the space environment by the thermal management system. Advanced concepts such as the liquid droplet radiator are discussed as possible candidates for the manned Mars mission. These thermal management technologies have great potential for significant weight reductions over the more conventional systems.

Bents, Dave

Feasibility Study of a Nuclear-Stirling Plant for the Jupiter Icy Moons Orbiter

NASA is undertaking the design of a new spacecraft to explore the planet Jupiter and its three moons Calisto, Ganymede and Europa. This proposed mission, known as Jupiter Icy Moons Orbiter (JIMO) would use a nuclear reactor and an associated electrical generation system (Reactor Power Plant-RPP) to provide power to the spacecraft. The JIMO spacecraft is envisioned to use this power for science and communications as well as Electric Propulsion (EP). Among other potential power-generating concepts, previous studies have considered Thermoelectric and Brayton Power conversion systems, coupled to a liquid metal reactor for the JIMO mission. This paper will explore trades in system mass and radiator area for a nuclear reactor power conversion system, however this study will focus on Stirling power conversion. The Stirling convertor modeled in this study is based upon the Component Test Power Convertor design that was designed and operated successfully under the Civil Space Technology Initiative for use with the SP-100 nuclear reactor i the 1980's and early 1990's. The study design is such that two of the four convertors would operate at any time to generate the 100 kWe while the others are held in reserve. For this study the Stirling convertors hot-side temperature is 1050 K, would operate at a temperature ratio of 2.4 for a minimum mass system and would have a system efficiency of 29%. The Stirling convertor would generate high voltage (400 volt), 100 Hz single phase AC that is supplied to the Power Management and Distribution system. The waste hear is removed from the Stirling convertors by a flowing liquid sodium-potassium eutectic and then rejected by a shared radiator. The radiator consists of two coplanar wings, which would be deployed after the reactor is in space. System trades were performed to vary cycle state point temperatures and convertor design as well as power output. Other redundancy combinations were considered to understand the affects of convertor size and number of spares to the system mass.

Schmitz, Paul C.

Lightweight Damage Tolerant, High-Temperature Radiators for Nuclear Power and Propulsion

NASA is increasingly emphasizing exploration to bodies beyond near-Earth orbit. New propulsion systems and new spacecraft are being built for these missions. As the target bodies get further out from Earth, high energy density systems, e.g., nuclear fusion, for propulsion and power will be advantageous. The mass and size of these systems, including supporting systems such as the heat exchange system, including thermal radiators, will need to be as small as possible. Conventional heat exchange systems are a significant portion of the total thermal management mass and size. Nuclear electric propulsion (NEP) is a promising option for high-speed, in-space travel due to the high energy density of nuclear fission power sources and efficient electric thrusters. Heat from the reactor is converted to power for use in propulsion or for system power. The heat not used in the power conversion is then radiated to space as shown in figure 1. Advanced power conversion technologies will require high operating temperatures and would benefit from lightweight radiator materials. Radiator performance dictates power output for nuclear electric propulsion systems. Pitch-based carbon fiber materials have the potential to offer significant improvements in operating temperature, thermal conductivity, and mass. These properties combine to allow significant decreases in the total mass of the radiators and significant increases in the operating temperature of the fins. A Center-funded project at NASA Marshall Space Flight Center has shown that high thermal conductivity, woven carbon fiber fins with no matrix material, can be used to dissipate waste heat from NEP systems and because of high specific power (kW/kg), will require less mass and possibly less total area than standard metal and composite radiator fins for radiating the same amount of heat. This project uses an innovative approach to reduce the mass and size required for the thermal radiators to the point that in-space NEP and power is enabled. High thermal conductivity carbon fibers are lightweight, damage tolerant, and can be heated to high temperature. Areal densities in the NASA set target range of 2 to 4 kg/m2 (for enabling NEP) are achieved and with specific powers (kW/kg) a factor of about 7 greater than conventional metal fins and about 1.5 greater than carbon composite fins. Figure 2 shows one fin under test. All tests were done under vacuum conditions.

Craven, Paul D.