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Title: Mobile workstation for decontamination and decommissioning operations

Abstract

This project is an interdisciplinary effort to develop effective mobile worksystems for decontamination and decommissioning (D&D) of facilities within the DOE Nuclear Weapons Complex. These mobile worksystems will be configured to operate within the environmental and logistical constraints of such facilities and to perform a number of work tasks. Our program is designed to produce a mobile worksystem with capabilities and features that are matched to the particular needs of D&D work by evolving the design through a series of technological developments, performance tests and evaluations. The project has three phases. In this the first phase, an existing teleoperated worksystem, the Remote Work Vehicle (developed for use in the Three Mile Island Unit 2 Reactor Building basement), was enhanced for telerobotic performance of several D&D operations. Its ability to perform these operations was then assessed through a series of tests in a mockup facility that contained generic structures and equipment similar to those that D&D work machines will encounter in DOE facilities. Building upon the knowledge gained through those tests and evaluations, a next generation mobile worksystem, the RWV II, and a more advanced controller will be designed, integrated and tested in the second phase, which is scheduled for completionmore » in January 1995. The third phase of the project will involve testing of the RWV II in the real DOE facility.« less

Authors:
; ;  [1]
  1. Carnegie-Mellon Univ., Pittsburgh, PA (United States). Robotics Inst.
Publication Date:
Research Org.:
Carnegie-Mellon Univ., Pittsburgh, PA (United States). Robotics Inst.; Redzone Robotics, Inc., Pittsburgh, PA (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
10142438
Report Number(s):
DOE/MC/29104-3662
ON: DE94004079; BR: EW4010200/EW4035100; TRN: 94:012855
DOE Contract Number:  
AC21-92MC29104
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: Oct 1993
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS; 12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; NUCLEAR FACILITIES; DECONTAMINATION; DECOMMISSIONING; REMOTE HANDLING; ROBOTS; MANIPULATORS; VEHICLES; DESIGN; PERFORMANCE TESTING; 420203; 054000; 052001; HANDLING EQUIPMENT AND PROCEDURES; HEALTH AND SAFETY; WASTE PROCESSING

Citation Formats

Whittaker, W L, Osborn, J F, and Thompson, B R. Mobile workstation for decontamination and decommissioning operations. United States: N. p., 1993. Web. doi:10.2172/10142438.
Whittaker, W L, Osborn, J F, & Thompson, B R. Mobile workstation for decontamination and decommissioning operations. United States. https://doi.org/10.2172/10142438
Whittaker, W L, Osborn, J F, and Thompson, B R. 1993. "Mobile workstation for decontamination and decommissioning operations". United States. https://doi.org/10.2172/10142438. https://www.osti.gov/servlets/purl/10142438.
@article{osti_10142438,
title = {Mobile workstation for decontamination and decommissioning operations},
author = {Whittaker, W L and Osborn, J F and Thompson, B R},
abstractNote = {This project is an interdisciplinary effort to develop effective mobile worksystems for decontamination and decommissioning (D&D) of facilities within the DOE Nuclear Weapons Complex. These mobile worksystems will be configured to operate within the environmental and logistical constraints of such facilities and to perform a number of work tasks. Our program is designed to produce a mobile worksystem with capabilities and features that are matched to the particular needs of D&D work by evolving the design through a series of technological developments, performance tests and evaluations. The project has three phases. In this the first phase, an existing teleoperated worksystem, the Remote Work Vehicle (developed for use in the Three Mile Island Unit 2 Reactor Building basement), was enhanced for telerobotic performance of several D&D operations. Its ability to perform these operations was then assessed through a series of tests in a mockup facility that contained generic structures and equipment similar to those that D&D work machines will encounter in DOE facilities. Building upon the knowledge gained through those tests and evaluations, a next generation mobile worksystem, the RWV II, and a more advanced controller will be designed, integrated and tested in the second phase, which is scheduled for completion in January 1995. The third phase of the project will involve testing of the RWV II in the real DOE facility.},
doi = {10.2172/10142438},
url = {https://www.osti.gov/biblio/10142438}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Fri Oct 01 00:00:00 EDT 1993},
month = {Fri Oct 01 00:00:00 EDT 1993}
}