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Title: Proposed radiation hardened mobile vehicle for Chernobyl dismantlement and nuclear accident response

Researchers are developing a radiation hardened, Telerobotic Dismantling System (TDS) to remediate the Chernobyl facility. To withstand the severe radiation fields, the robotic system, will rely on electrical motors, actuators, and relays proven in the Chernobyl power station. Due to its dust suppression characteristics and ability to cut arbitrary materials the authors propose using a water knife as the principle tool to slice up the large fuel containing masses. The front end of the robot will use a minimum number of moving parts by locating most of the susceptible and bulky components outside the work area. Hardened and shielded video cameras will be designed for remote control and viewing of the robotic functions. Operators will supervise and control robot movements based on feedback from a suite of sensory systems that would include vision systems, radiation detection and measurement systems and force reflection systems. A gripper will be instrumented with a variety of sensors (e.g. force, torque, or tactile), allowing varying debris surface properties to be grasped. The gripper will allow the operator to manipulate and segregate debris items without entering the radiologically and physically dangerous dismantlement operations area. The robots will initially size reduce the FCM`s to reduce the primarymore » sources of the airborne radionuclides. The robot will then remove the high level waste for packaging or decontamination, and storage nearby.« less
Authors:
;  [1] ;  [2] ;  [3]
  1. Lawrence Livermore National Lab., CA (United States)
  2. Scientific Inst. of Special Mechanical Problems, Kiev (Ukraine). Polytechnical Inst.
  3. Interbranch Scientific and Technical Center, Chernobyl (Ukraine)
Publication Date:
OSTI Identifier:
238462
Report Number(s):
UCRL-JC--119456; CONF-950232--39
ON: DE96010838; TRN: 96:015044
DOE Contract Number:
W-7405-ENG-48
Resource Type:
Conference
Resource Relation:
Conference: 6. American Nuclear Society meeting on robotics and remote systems, Monterey, CA (United States), 5-10 Feb 1995; Other Information: PBD: Jan 1995
Research Org:
Lawrence Livermore National Lab., CA (United States)
Sponsoring Org:
USDOE, Washington, DC (United States)
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; 22 NUCLEAR REACTOR TECHNOLOGY; 21 NUCLEAR POWER REACTORS AND ASSOCIATED PLANTS; CHERNOBYLSK-4 REACTOR; REACTOR DISMANTLING; ROBOTS; DESIGN; RADIATION HARDENING; CUTTING TOOLS; CORIUM; HYDRAULIC FRACTURING; REMOTE VIEWING EQUIPMENT; COMPUTERIZED CONTROL SYSTEMS; RADIATION DETECTORS; HIGH-LEVEL RADIOACTIVE WASTES; MATERIALS HANDLING; CONTAINMENT SYSTEMS; EROSION