decommissioning techniques - international atomic · pdf file2009 1 decommissioning techniques...
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2009 1
Decommissioning Techniques
Nuclear measurements
Decontamination
Tools / Remote operation
Simulations
2009 2
Evolving technologies
2009 3
Developing improved technologies for dismantling and demolition
Continued research on technologies should be encouraged
Formerly abandoned techniques should be re-examined and evaluated for applicability in a changing technological and economic environment
Evolving technologies
2009 4
Evolving technologiesTechniques should be:Safer, easierpotential exposure of workers to radiation,dust emission and spread of contamination,fire hazards,noise,.
QuickerCost effective (maintenance, operation, waste production)
Years of experience have yield methods and lessonslearned to improve performance
Appropriate technology for specific applications
2009 5
Teleoperation and cutting tools
Radiological characterization
Testing platform
3D Modelling and Simulation. Methods and Technical Developments. Appraisal & help to dismantling Site
Shear
Laser
Research and development for decommissioning
1 Decontamination
2009 6
Liquid DecontaminationNew trends in Chemistry and reaction (co-prcipitation, New Trends in Chemical engineering for enahnced processes
Solid DecontaminationFoam processes for complex volumes / shapesGel processes for economical treatmentElectro decontamination for concrete decontamination:
The Near future
Research and development for decommissioningDecontamination
2009 7
Research and development for decommissioning
- Industrial cleaning out of nuclear
The mission: The mission: proposeproposeand and developdevelop specific specific
processesprocessesNumerous industrials needs for:
-Treatments of liquid effluents and solutions to decrease the chemical and radiological environmental impact- Dismantling and decommissioning ofglove boxes and blinded cells (AREVA NC, CEA)- huge volumes and complex forms: storage tanks for fission products (CEA -AREVA NC), vapour generators (EDF -PN)- Concretes in nuclear power plants or nuclear installations (EDF, BOUYGUES TP)- Bacteriological decontamination meanings (NRBC )
Phenomenological Phenomenological and and knowledge knowledge of the of the
processesprocesses
ResearchResearchRR
DD
&&
2009 8
I liquid effluents decontamination
Nowadays context : Reduce as low as possible chemical and radiological impact coming from industrial and nuclear installation objective zero or clean reject
Abort bitumen wastes cementation Consequences :Improvement of processes efficiency :
In actual effluent treatment plantsFor the future installations: STE 2015 (AREVA), STE 2013 (Marcoule)For specific effluent coming from La Hague pool storage or decontamination workshop
Integrated view for the processes Actions : Assessment and analysis of actual chemical treatment.
enhancement ways proposal by simple chemical adjustment R&D on the innovative processes for effluent treatment :
Microfiltration Mineral exchange Coprecipitation
2009 9
ProductsProducts : acid phosphoric foamacid oxalic foamsurfactants
ProcessesProcesses : Foam making devicesFoam introduction devicesdecontamination/cleaning monitoring.
II decontamination of huge volume / complex formby foam processes
Vapor generator cleaning (submarine, aircarrier, nuclear plant)To formulate cleaver complex fluids (foams) that do not damage the surface of the materials (soft homogeneous corrosion or dissolution) and transfer rapidly the radiocontaminants into the complex fluid phase
Foam penetration into a bundle
2009 10
III Gels for nuclear decontaminationProblematic: Extract the surfacic contamination: ground, walls, ceiling
with:- reducing the exposition time for the operators- to avoid liquid effluents- producing a minimum amount of waste (mineral form), - waste compatible with standard treatment processes
1. Gel application onto the surface : by painting, by spraying
2. Drying and pellets formation
3. Brushing and/or vacuum cleaning to recover dry pellets including contamination
1
2
3 Type of materials : - stainless steel- iron- Aluminium- lead
2009 11
Surface decontamination a real case:ISAI cells in CEA-Marcoule using ASPIGEL 100 (FEVDI)
www.fevdi.fr
Pulverization of a ASPIGEL 100 thin film (500 m)
Recovering of the dried pellets by brushing or vacuum cleaning
2009 12
IV Concrete decontaminationIndustrial context : nuclear power plants decommissioning and dismantling
Problematic : 2 types of contamination
on the surface (~ mm) Deep contamination (~ cm)
Specific gel formulation for concrete
Improvement of an electrokineticprocess with an electrolytic gel
Storage pool P1 et P2 (Cadarache)STEL 146 (COGEMA Marcoule)Handford (USA)
FRDD of , between 2 et 2,8 FRDD of between 2,5 et 3,8
Validation on real case :Industrial partnership :
(Bouygues TP)
2009 13
Remote handling: MAESTRO System
Hot cell 414 at APM Integration on a Brokk 90 Test of global performance cutting
High thickness laser cutting
Research and development for decommissioning
2009 14
Context The need of CEA dismantling operations for the next
twenty years:
Insure the civil and defence clean up program (planning and financial: final cost operation)
Need industrial system with: Increased reliability Increased productivity Improved from nuclear safety
Two mains configurations of facilities at CEA Reprocessing facilities: Building 18, APM, UP1,AVM
Specifications: Great cells with high density of various components (thickness 3 to 15 mm), contaminations and middle level radiations
Fast reactor: Rapsodie, Phenix: main operations under water
Specifications: huge, heavy components with high or multiple thickness up to 100 mm, in air or under water and high level radiations
2009 15
Rapsodie
UP1. AVM
APM
Phnix
System MAESTRO: dismantling projects under studies
Ptrus Btiment 18
2009 16
Feedback experience in remote handling Uranium storage with SAMM Arm
Hydraulic arm with position controller and joysticks ( articular mode) Disposal < 60% Productivity depend on the human factor Dexterity limited in complex cell
Evaluation of Predator in cold area Master / slave system Force feedback for safety (ratio of 1/100, not enough for drive process) Low dexterity Open structure with linear and rotary actuators
Trolley/cartRailCamerasTools rackHoist/grabTelescopic shaftArmTools
2009 17
Teleoperation : Maestro system project- Industrial product- Good reliability and easy maintenance (modularity)- High capacity (around 60 daN at 2.5 m)- Dexterity (6 degrees of freedom, concurrent wrist)- no continued wrist rotation- Master Slave system with force feedback- Can be easily decontaminated and is hardened from radiation 10 kGy- Tool changer with electrical pins (no external wire)- Simple electrical wire
Different tools has been tested in conditions Alternative saw Plasma torch Nibbler (up to 9 mm thin, 1m/min) Shears (up Diam 55mm, 4mm thin) Rotary disk (abrasive and diamond)
Laser previously in test
Teleoperation with force feedback
2009 18
SupervisorWith master arm VirtuoseSupervisorscreen
Camera and light on pan and tilt
Embedded controller
Slave arm MAESTRO
Hydraulicunit
Maestro SystemTeleoperation with force feedback
2009 19CEA/DEN/DPA 2009CEA/DEN/DTEC/SDTC/LTM
Slave arm: capacity 60kg at 2m30 Electromechanical changer tool waterproof, MTBF 1000 hours Force sensitivity 10kg shoulders axes, 2kg wrist unidirectional accuracy 1mm
Hydraulic power unit: 150 / 210 bars, 45 litters Fire resistant fluid HFDU Temperature regulation 55C with 40C in cell
Hardened embedded controller Hardening radiation 10 kGray 40C ambient, waterproof umbilical 60 m, Jupiter size V multiplexer: arm, hydraulic power unit,
2 axes with lights and video cameras Graphical controller: appraisal operator
Graphical model Automatic or half-automatic programming Appraisal modes: gravity compensation, clamping DOF diagnostic
Force feedback master arm 6DOF + effector: Virtuose 6D 40-40: force ratio to 1/15
MAESTRO System: performance
2009 20
MAESTRO: Already used in industrial applications
Dismantling of NPP
Maintenance of ITER
Post-accidental Intervention
Repair of NPP
Off-shore robotics
Dismantling of nuclear facilities
2009 21
Teleoperation : Maestro system project The test field in cell 414 of APM began, The complete system for dismantling operations will be received in 2010
Size of the cell : 20m long x 5m large x 6m highWith chemical process
Dismantling system New carrier with 3 axes and a crane for waste removal embedded controller and hydraulic unit Maestro System Rack for 5 Tools Reduce electrical umbilical with water for cooling (low pressure)
APM 414 Cell
Teleoperation with force feedback
2009 22
Program of Testing platform in 2008 - 2009 Test of productivity in dismantling operations
Define the ratio of kg/day of dismantling operations (waste in drums) Comparison with other system (without force feedback)
Feed back experience of SAMM arm at UP1 (15 kg/day)
Test of pr