use of robotics in nuclear applications

Use of Robotics in Nuclear Applications

Dwayne McDaniel Florida International University

Glenn Soon Washington River Protection Solutions

April 20, 2021

Advancing the research and academic mission of Florida International University.

57,000 enrolled

10,000 employees

11 colleges and schools

201 bachelors, master’s & doctoral programs

• Top 10 largest U.S. public university

• Top‐tier research institution (Carnegie R1 Doctoral Universities ‐ Highest Research Activity)

• ABET accreditation

• Minority Serving Institution (MSI) 

• Top in U.S. for awarding bachelor’s and master’s degrees to Hispanic students

Florida International University

Advancing the research and academic mission of Florida International University.

Principal Investigators: Leonel Lagos, Ph.D., PmPDwayne McDaniel, Ph.D., P.E.

Research Scientists: Anthony AbrahaoAparna Aravelli, Ph.D.Mackenson TelusmaShervin Tashakori, Ph.D.

DOE Fellows: Daniel MartinSebastian Story Jeff Natividad Thi TranJoel Adams Eduardo Rojas Josue Estrada

Research Assistants: Julie Villamil Caique LaraSharif A. Sarker Munim RayhanTowhidur Rahman

Work supported by: U.S. DOE‐EM, DOE‐NETL, DOE‐LM, DOE‐NEUP, DOE‐MSIPP and NSF

Applied Robotics Laboratory

Advancing the research and academic mission of Florida International University.

outline

• Waste Tank Farm Inspection• Magnetic Miniature Rover• UT Minirover• 90° Rover• Marsupial Crawler

• Infrastructure Inspection• Wall Climber• Mapping and Surveillance

• Glove Box Operation• Robotic Manipulator

Overview of systems being developed at FIU aimed to assist engineers understand the integrity of infrastructure within the DOE complex and provide physical assistance to workers with significant physical requirements. 

Outline

Advancing the research and academic mission of Florida International University.

Hanford Tank Farm

Hanford site has 56 million gallons of radioactive waste left from the past production of weapons plutonium being held in underground tanks. 

Advancing the research and academic mission of Florida International University.

Double Shell Waste Tanks

Advancing the research and academic mission of Florida International University.

(1) Annulus Pit

(2) Leak Detection Pit

(3) Ventilation Pipe System

Primary and Secondary Liner Inspection

Advancing the research and academic mission of Florida International University.

Primary Liner InspectionObjectives:

Develop cost effective inspection tools that can travel through the refractory pad air channels underneath the primary liner and the drain line channels underneath the secondary liner while providing live video feedback.

Expected Conditions:

• Small cooling channels (~ 2 1/2”)• Radiation hardened (~ 80 rad/hr)• Elevated temperatures (~ 170 °F), • Irregular weld seams• Scaling, build‐up and corrosion

Advancing the research and academic mission of Florida International University.

FIU DST Full‐Scale Sectional Mock‐up

Advancing the research and academic mission of Florida International University.

Testing at FIU’s Full‐Scale MockupDevelop rigorous tests to simulate the inspection conditions

Weld Seam TestingCorroded Surfaces

Advancing the research and academic mission of Florida International University.

Elevated Temperatures

Testing at FIU’s Full‐Scale Mockup

Full scale mockup Inspections

Advancing the research and academic mission of Florida International University.

Ultrasound Sensor Integration

Surface preparationNavigation of weld seams

Integrate sensors providing measurements of the tank bottom conditions

Advancing the research and academic mission of Florida International University.

Ultrasound Sensor IntegrationUltrasound Measurement

Advancing the research and academic mission of Florida International University.

Objectives:

Develop an inspection tool that navigates through the refractory slots of AY‐101 at Hanford while providing live video feedback.

• This unit is being designed to navigate through four 90° turns.

• Equipped with 2 camera printed circuit boards (PCB) to relay live feed video backto the operator. 

• Pull force is rated at 3.87 lbs. providing great maneuverability.

AY‐101 Inspection Tool

Advancing the research and academic mission of Florida International University.

Objectives:

Develop an inspection tool that navigates through the foundation drain slots under the secondary liners of the DST’s at Hanford while providing live video feedback.

Current Efforts: 

Develop a marsupial type crawler that can traverse through the drain lines and deploy a rover into the drain slots.

Expected Conditions:

• No radiation • Irregular weld seams• Mud, scaling, 

build‐up, and corrosion

Secondary Liner Inspection

Advancing the research and academic mission of Florida International University.

Secondary Liner InspectionDevelop an and housing module to carry and deploy the miniature rover

Advancing the research and academic mission of Florida International University.

Marsupial Crawler for Drain Lines

Advancing the research and academic mission of Florida International University.

Miniature (Child) Inspection Rover for Drain Slots

Advancing the research and academic mission of Florida International University.

Objectives:

Combine robotic platforms and state of the art sensors for autonomous surveillance of nuclear facilities and sites. 

Current Efforts: 

Develop mobile robotic systems that navigates through the tank farm automating surveillance activities by developing:

• continuous stochastic models

to predict the overall radiation field by simultaneously fusing data from:

• non‐destructive gamma measurements,• surrounding images, and• three‐dimensional LiDAR mapping.

Autonomous Surveillance of Nuclear Facilities and Repositories

Advancing the research and academic mission of Florida International University.

Autonomous Surveillance of Nuclear Facilities and Repositories

Advancing the research and academic mission of Florida International University.

Savannah River Site has the only remaining plutonium/HEU reprocessing facility in the USA constructed in early 1950’s.

H‐Canyon Concrete Wall Repair

Advancing the research and academic mission of Florida International University.

H‐Canyon Concrete Wall Repair Platform 

• The exhaust air from the processing cycle is routed through the Canyon Air Exhaust (CAEX) tunnel

• The inspection of the cement walls of the CAEX for structural integrity

Advancing the research and academic mission of Florida International University.

H‐Canyon Concrete Wall RepairDevelop an inspection tool that can navigate around the exterior of a 3 ft diameter pipe and provide video feedback

Advancing the research and academic mission of Florida International University.

H‐Canyon Concrete Wall Repair

Advancing the research and academic mission of Florida International University.

Remote Sensing Technologies for Long‐Term Surveillance of DOE‐LM SitesClimate change, Resilience and Extreme Weather Events

ObjectiveEvaluate suitable remote sensing imagery methods, to evaluate the different environmental characteristics present in current LM sites

What are the long‐term effects of climatechange at LM sites?• Land use, cover and erosion• Vegetation• Surface hydrology• Wildlife migration patterns• Severe weather events

Considering across the country• Land features, use, cover and conditions• Elevation• Hydrology• Weather conditions

Advancing the research and academic mission of Florida International University.

Long‐term Surveillance of DOE‐LM SitesPhotogrammetry Mapping

Advancing the research and academic mission of Florida International University.

Long‐term Surveillance of DOE‐LM SitesLidar Mapping

+ • 3D Mount• Embedded Computer• Auxiliary Sensory• Supporting Electronics

Advancing the research and academic mission of Florida International University.

Glove Box AutomationQuantify human fatigue during glove box operations and to evaluate the feasibility of a dexterous robotic manipulator for use in glove boxes and hot cells

Advancing the research and academic mission of Florida International University.

Deployment RoadmapTechnology 2020 2021 2022 2023 2024

In-houseDeployment

DST

Han

ford

H Can

yon

SRNL

WIPP

LM Site

SiteDeployment

In-houseDeployment

SiteDeployment

In-houseDeployment

SiteDeployment

In-houseDeployment

SiteDeployment

In-houseDeployment

SiteDeployment

In-houseDeployment

SiteDeployment

Evaluation

Evaluation

Evaluation

Evaluation In-houseDeployment

SiteDeployment

ConceptualDesign

SensorIntegration Evaluation

Evaluation

Advancing the research and academic mission of Florida International University.

Thank You

Save the DateJuly 20th, 2021Next Tech Talk

Advanced Environmental Monitoring Systems (ALTEMIS): New Paradigm of Long‐term Monitoring

Please fill the feedback formhttps://www.dndkm.org/TechTalk/