Remote dismantlement tasks for the CP5 reactor: Implementation, operations, and lessons learned
This paper presents a developer`s perspective on lessons learned from one example of the integration of new prototype technology into a traditional operations environment. The dual arm work module was developed by the Robotics Technology Development Program as a research and development activity to examine manipulator controller modes and deployment options. It was later reconfigured for the dismantlement of the Argonne National Laboratory Chicago Pile {number_sign}5 reactor vessel as the crane-deployed dual arm work platform. Development staff worked along side operations staff during a significant part of the deployment to provide training, maintenance, and tooling support. Operations staff completed allmore »