Research Opportunities for Deactivating and Decommissioning Department of Energy Facilities (2001) / Chapter Skim
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Appendix D: Illustrative Science Base and Scope for Remote Technology for Decontamination and Decommissioning of DOE Nuclear Facilities
Appendix D: Illustrative Science Base and Scope for Remote Technology for Decontamination and Decommissioning of DOE Nuclear Facilities
Pages 121-134
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From page 121... ...
for a science base that would aggressively attack the technology needs with a balanced approach where timely investment can be made to address weaknesses and opportunities to most rapidly deploy a cost-effective technology. The existing projectoriented approach results in special-purpose systems developed under contract primarily by industry to meet a local site need independent of long-term research activity at universities and the DOE's own research laboratories.
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From page 122... ...
The expected controller cost with software for the open architecture remote systems is expected to be based on continuously advancing personal computers and to cost less than $10,000. Second, even though a very broad range of remote systems will be required (handling, manipulators, rovers, etc., all at various scales)
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From page 123... ...
One of these performance goals is to reduce worker exposure to radiological hazards by 90 percent while increasing productivity by 300 percent for such applications as the Hanford building 324 hot cells, the Rocky Flats glove box size reduction, etc. This plan recognizes the need for advances in certain component technologies (planning in unstructured environments; characterization sensor suites, data analysis, management, and visualization; specialized manipulators and handling equipment; mobile platforms and their navigation; configuration management; man-machine interface and operator training; tetherless operation; etc.~.
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From page 124... ...
A challenge exists to develop a science base that would predict when a device will no longer tolerate the multiple effects from radiation, especially as the complexity of these devices increases. Recent development of MESFET GaAs technology and bipolar technologies suggest that total dose radiation tolerance wi 11 be greatly i mproved i n the futu ret For the system designer, it becomes essential to have explicit knowledge of the radiation tolerance of any given device, now realizable only by continuous testing and evaluation.
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From page 125... ...
Automatically models 3D point clouds that might comprise multiple objects using deformable simplex meshes, shrinking the mesh according to physical constraints, then refining the mesh to identify multiple objects allows determining the position and orientation of complex pipe structures, valves, even fine segmentation of small objects as can be expected in the D&D work environment. Recover geometric models for each part of each object from range image data, reduce noise and background clutter, identifying objects with finite number of primitive models.
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From page 126... ...
Virtual reality systems combined with mobile robot platforms (including advanced navigation technology) could allow workers to perform essential survey and decision making functions from a remote location, thus enhancing their safety and productivity.
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From page 127... ...
Micro-Sensors One of the most troublesome components in an actuator is the gear train; it needs to be modernized to be lighter, stiffer, easily manufactured, etc. Similar efforts are required for brakes, bearings, prime movers, magnets, wiring insulation, etc.
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From page 128... ...
A process must be put in place to interactively control these parameters so that advanced structures will result to meet the most demanding application requirements (extreme low weight, high power density, good disturbance rejection, etc.~. This includes the design of the prime mover, choice of materials, method of fabrication, etc.
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From page 129... ...
The suggestion here is to develop the science base for universal operational software for mechanical systems that are increasingly becoming more intelligent in response to a need for greater performance, flexible response to changing requirements, fault tolerance for continued operation under a fault, and condition-based maintenance to enable repair by rapid module replacement by a nominally trained technician all to be achieved at reduced costs. The crucial reality is that a gigaflop controller technology exists today as a $5000 commodity to provide immense decision making resources in real time to allocate resources within increasingly complex mechanical systems.
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From page 130... ...
The difference between the model reference and the sensor reference can be used to identify failure of parts within the system and to plan for repairs and tech mods. Excess resources in the system (in every active component such as motors, brakes, gear trains, etc.)
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From page 131... ...
Operational Software This includes complex questions of resource allocation for improved obstacle avoidance, arm stiffness, end-effector dexterity, etc., while prioritizing alternate configurations (tools, power packs, controllers, actuators, etc.) to the decision maker (the D&D system operator)
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From page 132... ...
to perform demanding tasks (disturbance rejection, handling of ungainly objects) is best achieved by setting operational priorities (selection of criteria, performance indices, threshold levels for fault identification, etc.)
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From page 133... ...
Examples include a standard project description; a parametric description of distinct physical tasks for that project; planning experience involving technology transfer, operator training, and cost effectiveness; deployment issues associated with the proposed technology; and comments on the requirements to drive the needed science. The in-depth analysis of the applications chosen should include distinct information that should be provided such as: · timeline and frequency of physical tasks · duration of each task .
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