Pyrochemical processing of Idaho Chemical Processing Plant (ICPP) High Level Waste (HLW) calcine

Conference · Tue Nov 15 00:00:00 EST 1994

OSTI ID:87053

Bronson, M C; Ebbinghaus, B B; Riley, D C ^[1]; Nelson, L; Del Debbio, J ^[2]

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1. Lawrence Livermore National Lab., CA (United States)
2. Westinghouse Idaho Nuclear Co., Inc., Idaho Falls, ID (United States)

Inertial force damping control by micromanipulator modulation is proposed to suppress the vibrations of a micro/macro-manipulator system. The proposed controller, developed using classical control theory, is added to the existing control system. The proposed controller uses real-time measurements of macro-manipulator flexibility to adjust the motion of the micro manipulator to counteract structural vibrations. Experimental studies using an existing micro/macro flexible link manipulator testbed demonstrate the effectiveness of the proposed approach to suppression of vibrations in the macro/micro-manipulator system using micromanipulator-based inertial active damping control.

• Research Organization: Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: W-7405-ENG-48
• OSTI ID: 87053
• Report Number(s): UCRL-JC-119349; CONF-9502108-1; ON: DE95014516; TRN: 95:017351
• Resource Relation: Conference: 1995 annual Metallurgical Society meeting, Las Vegas, NV (United States), 12-16 Feb 1995; Other Information: PBD: 15 Nov 1994
• Country of Publication: United States
• Language: English

Related Subjects

40 CHEMISTRY
HIGH-LEVEL RADIOACTIVE WASTES
PYROCHEMICAL REPROCESSING
CALCINED WASTES
SEPARATION PROCESSES
IDAHO CHEMICAL PROCESSING PLANT
IDAHO NATIONAL ENGINEERING LABORATORY