Novel Radiometry for In-Pipe Robotic Inspection of Holdup Deposits in Gaseous Diffusion Piping - 19503
- Carnegie Mellon University (United States)
This paper details the first complete, DOE approved, deployed and operational radiometry for robotic nondestructive assay (NDA) of holdup deposits in gaseous diffusion piping. Some features, like peak-finding, Compton correction, detector efficiency, and material properties are characteristic of typical manual methods. Most features are specific to in-pipe robotic deployment. These include in-motion radiometry, self-determined location, geometric modeling of thick deposits, bounding of self-attenuation thickness and auto-checking of replicate measurements. Significant are the means for determining all the properties, equations, and constants for automatically computing and displaying all the quantities, uncertainties and information needed for NDA reporting, analysis, and review. Earlier work by this team demonstrated rudimentary but convincing robotic in-pipe NDA of holdup deposits in pipes. Cold testing with high-enrichment mat sources and hot tests with low U-235 loadings together succeeded to exhibit convincing proof-of-principle. This research-grade radiometry implementation lacked accurate odometry, efficiency calibration, high-fidelity detector modeling, attenuation modeling, forward geometric modeling, auto-segmenting, uncertainty modeling, replicate checking, deconvolution and much more. This work explains the technical basis behind robotic in-pipe NDA. It includes discussion of a new method for modeling of self-attenuation using in-pipe deposit geometry information, detail of the method's total measurement uncertainty, and explanation of calibration methods and results. Beyond development of automation-specific radiometric elements, the paper highlights analyses, testing, and technical bases specific to and supportive of the methodology. Examples include collimation characterization, detector efficiency determination, auto-calibration methodology, and odometric replicate-checking. Results of this methodology are formalized in a DOE EM Technical Basis Document, implemented in software, formally verified in review and acceptance testing and proceduralized as a means for D and D NDA at the Portsmouth enrichment facility. Measurement of U-235 quantity is a well-known cost and schedule driver in D and D of every defunct gaseous diffusion enrichment facility in the world. The radiometry methodologies and results detailed in this paper were the high hurdles. Having established the technical basis for this automated NDA, the opportunity is to apply this to many sizes and robot forms for addressing holdup deposit NDA throughout the D and D community. (authors)
- Research Organization:
- WM Symposia, Inc., PO Box 27646, 85285-7646 Tempe, AZ (United States)
- OSTI ID:
- 23005376
- Report Number(s):
- INIS-US--21-WM-19503
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND TECHNOLOGY
ATTENUATION
AUTOMATION
CALIBRATION
COMPUTERIZED SIMULATION
DEPOSITS
EFFICIENCY
GASEOUS DIFFUSION
GEOMETRY
IMPLEMENTATION
ISOTOPE SEPARATION PLANTS
ON-SITE INSPECTION
REMOTE SENSING
ROBOTS
TESTING
URANIUM 235