Mobile robot worksystem (Rosie). Innovative technology summary report
The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) have developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. Rosie is a mobile robot worksystem developed for nuclear facilities D and D. Rosie performs mechanical dismantlement of radiologically contaminated structures by remotely deploying other tools or systems. At the CP-5 reactor site, Rosie is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of a Kraft Predator dexterous manipulator arm. Rosie is a tethered, 50 m (165 ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator uses Rosie to move, lift or offload radioactive materials using its integral lifting hook or to position the Kraft Predator arm in locations where the arm can be used to dismantle parts of the CP-5 reactor. The specific operating areas were concentrated in two high radiation areas, one at the top of the reactor structure atop and within the reactor tank assembly and the second at a large opening on the west side of the reactor`s biological shield called the west thermal column. In the first of these areas, low level radioactive waste size previously segmented or dismantled by the Dual Arm Work Platform (DAWP) and placed into a steel drum or transfer can were moved to a staging area for manual packaging. In the latter area, the manipulator arm removed and transferred shielding blocks from the west thermal column area of the reactor into waste containers. Rosie can also deploy up to twelve remotely controlled television cameras, some with microphones, which can be used not only for operating Rosie, but also in the operation of the manipulator arm (or any other device that is deployed). Since all of these operations can be performed remotely, no personnel are exposed to any radiation during all operations, except maintenance.
- Research Organization:
- Dept. of Energy, Office of Science and Technology, Washington, DC (United States)
- Sponsoring Organization:
- USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
- OSTI ID:
- 354984
- Report Number(s):
- DOE/EM-0429; ON: DE99002919; IN: OST Reference No. 1799; NC: NONE; TRN: AHC29924%%188
- Resource Relation:
- Other Information: PBD: May 1999
- Country of Publication:
- United States
- Language:
- English
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Robotic dismantlement systems at the CP-5 reactor D&D project.
Rosie: A mobile worksystem for decontamination and dismantlement operations