[en] A cart system using linear synchronous motors was being considered for the Plutonium Immobilization Plant (PIP). One of the applications in the PIP was the movement of a stack of furnace trays, filled with the waste form (pucks) from a stacking/unstacking station to several bottom loaded furnaces. A system was ordered to perform this function in the PIP Ceramic Prototype Test Facility (CPTF). This system was installed and started up in SRTC prior to being installed in the CPTF. The PIP was suspended and then canceled after the linear synchronous motor system was started up. This system was used to determine repeatability of a linear synchronous motor cart system for the Modern Pit Facility

[en] Canisters of waste glass produced in the Defense Waste Processing Facility at the Savannah River Plant will be decontaminated by air-injected frit slurry blasting. The byproduct of this operation, contaminated frit slurry, will be used as part of the feed stock for the glass-making process. Therefore, no secondary waste will be created. Scouting tests of four different frit blasting techniques were conducted by the Savannah River Laboratory. The techniques investigated were dry blasting, direct pump slurry blasting, air-aspirated slurry blasting, and air-injected slurry blasting. The air-injected slurry blasting technique was chosen for development, based on results of these scouting tests. A detailed development program was undertaken to optimize the air-injected frit slurry blasting process. 3 references, 28 figures

[en] The Department of Energy (DOE) Office of Technology Development (OTD) is developing technology to aid in the cleanup of DOE sites. Included in the OTD program are the Robotics Technology Development Program and the Mixed Waste Integrated Program. These two programs are working together to provide technology for the cleanup of mixed waste, which is waste that has both radioactive and hazardous constituents. There are over 240,000 cubic meters of mixed low level waste accumulated at DOE sites and the cleanup is expected to generate about 900,000 cubic meters of mixed low level waste over the next five years. This waste must be monitored during storage and then treated and disposed of in a cost effective manner acceptable to regulators and the states involved. The Robotics Technology Development Program is developing robotics technology to make these tasks safer, better, faster and cheaper through the Mixed Waste Operations team. This technology will also apply to treatment of transuranic waste. The demonstration at the Savannah River Site on November 2-4, 1993, showed the progress of this technology by DOE, universities and industry over the previous year. Robotics technology for the handling, characterization and treatment of mixed waste as well robotics technology for monitoring of stored waste was demonstrated. It was shown that robotics technology can make future waste storage and waste treatment facilities better, faster, safer and cheaper

[en] On December 2, 2002, Remote and Specialty Equipment Systems (RSES) of the Savannah River Technology Center (SRTC) was requested to build a remotely operated crawler to assist in cleaning the Defense Waste Processing Facility (DWPF) melt cell floor of glass, tools, and other debris. The crawler was to assist a grapple and vacuum system in cleaning the cell. The crawler was designed to push glass and debris into piles so that the grapple could pick up the material and place it in waste bins. The crawler was also designed to maneuver the end of the vacuum hose, if needed. In addition, the crawler was designed to clean the area beneath the cell worktable that was inaccessible to the grapple and vacuum system. Originally, the system was to be ready for deployment by December 17. The date was moved up to December 12 to better utilize the available time for clean up. The crawler was designed and built in 10 days and completed cleaning the melt cell in 8 days. Due to initial problems with the grapple and vacuum system, the crawler completed essentially all of the cleanup tasks by itself. The crawler also cleaned an area on the west side of the cell that was not initially slated for cleaning

[en] The Accelerator Production of Tritium (APT) has been proposed as the source of tritium for the United States in the next century. The APT will accelerate protons that will strike replaceable tungsten target modules. The tungsten target modules generate neutrons that interact with blanket modules and other modules where ³He gas is turned into tritium. The target and blanket modules are predicted to require replacement every one to ten years, depending on their location. The target modules may weigh as much as 85 tons (77 metric tons) each. All of the modules will be contained in a target/blanket vessel, which is in a shielded facility. The spent modules will be radioactive, so that remote replacement of the modules will be required. The modules will be 27 feet (8.23 m) high and the top of the modules, where most of the remote operations will occur, will be approximately 20 feet (6.1 m) down into the target/blanket vessel. The immense weights of the modules, the long reaches required and the requirement for completely remote operation of at least part of the operation, make this a unique and challenging task. Initially, manual fastening and unfastening of the jumper flanges on the modules as well as manual valve operation was proposed followed by remote replacement of the modules. This manual/remote operation was demonstrated with a computer-generated, dynamic, 3-D simulation. After review of the simulation, this operation was changed to be a complete remote operation. Complete remote operation brought about the concept of a remotely operated bridge crane and a remotely operated, bridge-mounted, manipulator to perform the entire replacement operation. A second simulation showed the intended operation of the remote concept and was instrumental in developing the requirements for the equipment and end effectors for this concept. The concept included development of end effectors for the following tasks: flange nut fastening and unfastening, flange lifting and latch operating, connector thread engagement, connector nut tightening, and valve opening and closing. The equipment designed for remote and robotic operation included a lifting bail, alignment pins, flange alignment trunnions, nut holding studs, end-effector operated flange latch, gear and nut driven connector and special valve operators. The equipment and end effectors were built and tested using a bridge robot with eight degrees of freedom. Testing revealed that the majority of the operations could be performed with programmed control and only a few steps required operator intervention with the assistance of remote camera views. Modifications were required to both the equipment and end effectors to achieve successful and reliable operation. The value of 3-D dynamic simulation in demonstrating the weaknesses and strengths of concepts, the role of simulation in gaining approval of the final concept and the value of simulation in determining successful design of equipment and end-effectors will be discussed. The value of development and testing of equipment and end-effectors towards a successful final design will also be discussed

[en] The Mixed Waste Operations Robotics program is developing robotics technology to make the handling and treatment of Department of Energy mixed waste; better, faster, safer and cheaper. This technology will provide remote operations and not require humans to be in contact with this radioactive and hazardous waste. The technology includes remote handling and opening of waste containers, remote removal of waste from the containers, remote characterization and sorting of the waste, and remote treatment and disposition of the waste. The initial technology development program culminated in an integrated demonstration in November 1993 and each aspect of this technology is described

[en] Plutonium powder will be brought into the Plutonium Immobilization Plant in Food Pack Cans in 3013 packages. The Food Pack Cans will be removed from the 3013 outer and inner can. This document describes their concept and completes PIP milestone 2.2.3.4/FY01/c, Complete Concept for Material Transfer

[en] This report documents a study requested for PIP to compare the baseline bagless transfer process with the electrolytic decontamination process, and recommend the process for the PIP application. Two different methods of packaging pucks in cans for the Plutonium Immobilization Project (PIP) were compared; the SRS bagless transfer and electrolytic decontamination. The SRS bagless transfer generates more waste, but it is simpler, less systems would be required, it requires much less glovebox space, much less building space and the installed cost would be considerably less. Therefore, the SRS bagless transfer is recommended for the PIP

[en] A mobile robot system called Stored Waste Autonomous Mobile Inspector (SWAMI) is under development by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River Company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure to potential hazards and create accurate, high-quality documentation to ensure regulatory compliance and enhance waste management operations. Development work is coordinated among several Department of Energy (DOE), academic, and commercial entities in accordance wit DOE's technology transfer initiative. The prototype system, SWAMI I, was demonstrated at Savannah River Site (SRS) in November, 1993. SWAMI II is now under development for field trails at the Fernald site

[en] Abrasive blasting techniques are being developed for canister decontamination. Abrasive blasting with a slurry of frit followed by rinsing with high pressure water is the present reference process. The present reference process was reevaluated, because of equipment design concerns due to the abrasiveness of the slurry, and potential corrosion problems due to possible water intrusion into the canister. The ability of candidate processes to remove radioactive contamination from Type 304L stainless steel specimens has now been quantitatively determined under DWPF conditions. The type of contamination, the amount of contamination, and the heating conditions used spanned the range of conditions expected in the DWPF