use of robotics in nuclear applications
TRANSCRIPT
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.
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