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Title: Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2})

Abstract

The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO{sub 2}), as shown in a front view is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO{sub 2} xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. The cryogenesis subsystem performs the actual decontamination work and consists of the dry ice supply unit, the blasting nozzle, the remotely controlled electric and pneumatic valves, and the vacuum work-head. The COYOTEE subsystem positions the blasting work-head within a planar work space and the vacuum subsystem provides filtration and containment of the debris generated by the CO{sub 2} blasting. It employs a High Efficiency Particulate Air (HEPA) filtration unit to separate contaminants for disposal. All of the above systems are attached to the vehicle subsystem via the support structure.

Authors:
 [1]
  1. Oceaneering International, Inc., Upper Marlboro, MD (United States)
Publication Date:
Research Org.:
USDOE Morgantown Energy Technology Center, WV (United States)
OSTI Identifier:
229518
Report Number(s):
DOE/METC-96/1021-Vol.1; CONF-9510108-Vol.1
ON: DE96000551; TRN: 96:001841-0025
Resource Type:
Conference
Resource Relation:
Conference: Environmental technology development through industry partnership, Morgantown, WV (United States), 3-5 Oct 1995; Other Information: PBD: Oct 1995; Related Information: Is Part Of Proceedings of the environmental technology through industry partnership conference. Volume 1; Kothari, V.P.; PB: 312 p.
Country of Publication:
United States
Language:
English
Subject:
05 NUCLEAR FUELS; 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; FLOORS; DECONTAMINATION; CONCRETES; EQUIPMENT; REMOTE CONTROL; CARBON DIOXIDE; CONTAINMENT; EFFICIENCY; FILTRATION; ICE; EXPLOSIVE FRACTURING

Citation Formats

Resnick, A.M. Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2}). United States: N. p., 1995. Web.
Resnick, A.M. Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2}). United States.
Resnick, A.M. Sun . "Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2})". United States. doi:. https://www.osti.gov/servlets/purl/229518.
@article{osti_229518,
title = {Remote operated vehicle with carbon dioxide blasting (ROVCO{sub 2})},
author = {Resnick, A.M.},
abstractNote = {The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO{sub 2}), as shown in a front view is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO{sub 2} xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. The cryogenesis subsystem performs the actual decontamination work and consists of the dry ice supply unit, the blasting nozzle, the remotely controlled electric and pneumatic valves, and the vacuum work-head. The COYOTEE subsystem positions the blasting work-head within a planar work space and the vacuum subsystem provides filtration and containment of the debris generated by the CO{sub 2} blasting. It employs a High Efficiency Particulate Air (HEPA) filtration unit to separate contaminants for disposal. All of the above systems are attached to the vehicle subsystem via the support structure.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Oct 01 00:00:00 EDT 1995},
month = {Sun Oct 01 00:00:00 EDT 1995}
}

Conference:
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  • The Remote Operated Vehicle with Carbon Dioxide Blasting (ROVCO{sub 2}), as shown in a front view, is a six-wheeled remote land vehicle used to decontaminate concrete floors. The remote vehicle has a high pressure Cryogenesis blasting subsystem, Oceaneering Technologies (OTECH) developed a CO{sub 2} xY Orthogonal Translational End Effector (COYOTEE) subsystem, and a vacuum/filtration and containment subsystem. Figure 2 shows a block diagram with the various subsystems labeled.
  • This report documents the first phase of the Remote Operated Vehicle with CO{sub 2} Blasting (ROVCO{sub 2}) Program. The ROVCO{sub 2} Program`s goal is to develop and demonstrate a tool to improve the productivity of concrete floor decontamination. The first phase adapted and tested the critical subsystems: the CO{sub 2} blasting, the workhead manipulation, the controls, and the base vehicle. The testing documented the performance of the subsystems and preformed a concept demonstration of the integrated ROVCO{sub 2} system. This testing and demonstration verified that the ROVCO{sub 2} development exceeded it Phase 1 success criteria.
  • This report documents the second phase of the Remote Operated Vehicle with CO{sub 2} Blasting (ROVCO{sub 2}) Program. The ROVCO{sub 2} Program`s goal is to develop and demonstrate a tool to improve the productivity of concrete floor decontamination. The second phase integrated non-developmental subsystems on to the ROVCO{sub 2} system and performed quantitative decontamination effectiveness, productivity, and reliability testings. The report documents these development activities and the analysis of cost and performance. The results show that the ROVCO{sub 2} system is an efficient decontamination tool.
  • This report documents the third and final phase of the Remote Operated Vehicle with CO2 Blasting (ROVCO2) Program. The Program=s goal is to develop and demonstrate a tool to improve the productivity of concrete floor decontamination. In Phase 3 of the ROVCO2 program, the workhead and the COYOTEE end-effector were redesigned, and effectiveness and productivity tests were performed. This report documents the development activities. The results show that the ROVCO2 system is an efficient decontamination tool, but with relatively slow production rates.
  • The binuclear Ni(0) complex, Ni/sub 2/(..mu..-CNMe)/sub 2/(CNMe)(dppm)/sub 2/, (1) undergoes two one-electron oxidations (E/sub 1/2/ = -0.51 and -0.83 V vs Ag/AgCl) to form the complex, Ni/sub 2/(..mu..-CNMe)(CNMe)/sub 2/(dppm)/sub 2//sup 2 +/, (2) the crystal structure of 2 as the PF/sub 6//sup -/ salt has been determined. Complex 2 crystallized in the space group P2/sub 1/ with a = 13.659 (3) A, b = 14.852 (4) A, c = 17.970 (3) A, ..beta.. = 101.44 (1)/sup 0/, V = 3573.0 (2) A/sup 3/, and Z = 2. The structure was refined to convergence (R = 0.056, R/sub w/ = 0.073)more » for 4036 unique data over the range 4/sup 0/ less than or equal to 2 theta less than or equal to 45/sup 0/ by using Mo K..cap alpha.. radiation. Complex 2 exhibits an unusual trans,cis-diphosphine configuration at the Ni centers and contains a semibridging isocyanide. The electrochemical behavior of 2 in the presence of CO/sub 2/ has been examined. Complex 2 reacts with CO/sub 2/ by an EC electrochemical mechanism to afford the CO/sub 2/ complex Ni/sub 2/(..mu..-CNMeCO/sub 2/)(CNMe)/sub 2/(dppm)/sub 2/, (3) complex 3 also has been prepared by reaction of 1 with CO/sub 2/(1). Prolonged reaction of 1 with CO/sub 2/(l) leads to complete carbonylation and Ni/sub 2/(..mu..-CO)(CO)/sub 2/(dppm)/sub 2/, (4) the results of labeling experiments using /sup 13/CO/sub 2/ and 99% /sup 13/C-enriched Ni/sub 2/(..mu..-/sup 13/CNMe)(/sup 13/CNMe)/sub 2/(dppm)/sub 2/ are interpreted in terms of a reaction pathway involving O-atom transfer from CO/sub 2/ to the carbon atom of the bridging isocyanide of 1.« less