Miniaturized robotically deployed sensor systems for in-situ characterization of hazardous waste
A series of ``MiniLab`` end effectors are currently being designed for robotic deployment in hazardous areas such as waste storage tanks at Idaho National Engineering Laboratories (INEL) and Oak Ridge National Laboratory (ORNL). These MiniLabs will be the first ever multichannel hazardous waste characterization end effectors deployed in underground high level waste storage tanks. They consist of a suite of chemical, radiological, and physical properties sensors integrated into a compact package mounted on the end of a robotic arm and/or vehicle. Most of the sensors are commercially available thus reducing the overall cost of design and maintenance. Sensor configurations can be customized depending on site/customer needs. This paper will address issues regarding the cost of field sampling verses MiniLab in-situ measurements and a brief background of the Light Duty utility Arm (LDUA) program. Topics receiving in depth attention will include package size parameters/constraints, design specifications, and investigations of currently available sensor technology. Sensors include radiological, gas, chemical, electrolytic, visual, temperature, and ranging. The effects of radiation on the life of the systems/sensors will also be discussed. Signal processing, control, display, and data acquisition methods will be described. The paper will conclude with an examination of possible applications for MiniLabs.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 459342
- Report Number(s):
- SAND--96-2934C; CONF-970464--3; ON: DE97001880
- Country of Publication:
- United States
- Language:
- English
Similar Records
A miniaturized sensor laboratory for in situ characterization of hazardous waste by a robot
Light duty arm system deployment plans and applications
Related Subjects
42 ENGINEERING
44 INSTRUMENTATION
INCLUDING NUCLEAR AND PARTICLE DETECTORS
CHEMICAL ANALYSIS
COMPARATIVE EVALUATIONS
DATA TRANSMISSION
IN-SITU PROCESSING
LABORATORIES
MANIPULATORS
MINIATURIZATION
PHYSICAL PROPERTIES
PROBES
RADIATION EFFECTS
RADIOACTIVE WASTES
RADIOCHEMICAL ANALYSIS
SAMPLERS
USES