Topographical mapping system for hazardous and radiological environments

Conference · Sun Dec 31 00:00:00 EST 1995

OSTI ID:201696

Armstrong, G A; Burks, B L; Bernacki, B E ^[1]; Pardini, A ^[2]

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1. Oak Ridge National Lab., TN (United States)
2. Westinghouse Hanford Co., Richland, WA (United States)

This report focuses on the results of the acceptance test of the Topographical Mapping System (TMS) delivered to the Hanford site. The TMS was tested for accuracy over the specified range of 45 feet. The TMS was also tested to ensure that the unit could be deployed through multiple risers and maintain accuracy and registration of the surface mapping data. In addition, the TMS was disassembled and reassembled and redeployed to test field replacement of modules that make up the sensor head that is deployed in the vapor space of Underground Storage Tanks such as those located at the Hanford site in southeastern Washington State. The results from these tests along with temperature testing on the complete system and radiation testing of selected susceptible components are covered in this report. The primary purpose of the TMS is to generate reliable and accurate three-dimensional maps of the internal surfaces of storage tank. One use for these mapping systems is in creating and maintaining a current map of the tank interior as input to a robotic ``world model`` that is used to test remediation strategies or plan robot trajectories. Another use is tracking the movement of the waste surface as it responds to expanding bubbles of trapped Gas. A third use of the TMS is to perform a volumetric analysis of the amount of waste removed from the tanks during remediation.

• Research Organization: Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 201696
• Report Number(s): CONF-951006-36; ON: DE96005393; TRN: 96:008404
• Resource Relation: Conference: Winter meeting of the American Nuclear Society (ANS), San Francisco, CA (United States), 29 Oct - 1 Nov 1995; Other Information: PBD: [1995]
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
05 NUCLEAR FUELS
REMOTE VIEWING EQUIPMENT
DESIGN
PERFORMANCE TESTING
HANFORD RESERVATION
STORAGE FACILITIES
MAPPING
REMEDIAL ACTION
TOPOGRAPHY
UNDERGROUND STORAGE
TANKS
SURFACE PROPERTIES
RADIOACTIVE WASTES
THERMAL TESTING
RADIATION EFFECTS
DEGASSING
VOLUME
INVENTORIES
WASTE RETRIEVAL
MONITORING