Title of Poster Presentation: Size Reduction and Dismantling of Radioactively Contaminated Equipment by Tele-Operated Robotics

Author: Randy Thompson

Key Words: robotics, disposal, plutonium

Abstract:

Handling contaminated components, ALARA and personnel exposure control, size reduction and packaging, and efficient operations are all major concerns when dismantling and decommissioning nuclear weapons production facilities. Oceaneering's Remote Operations Size Reduction System (ROSRS) was designed specifically to address these needs. The ROSRS is a Tele-Operated Robotic processing cell, that will be used for size reduction and dismantling of radioactively contaminated (plutonium) equipment.

The ROSRS consists of several major system groups, including a Reducing and Material Handling System, a Containment System, and Integrating Components.
The Reducing and Material Handling System includes a Robotics System and Conveying Equipment. The Containment System consists of the Containment Structure (CS) with its associated Filtration and Ventilation System (F&VS) and various Outfitting Equipment including a CO2 Fire Suppression System, a Filtration Unit Fire Suppression System, Radiological Monitoring Equipment, and a Housekeeping Vacuum System. The Integrating Components consist of the Controls and Power System (C&PS) and a Remote Viewing System with 10 pan & tilt cameras.

The ROSRS Robotics System is comprised of the following sub-systems, a PaR XRâ100 (cutting), a PaR TRä6350 (manipulation), Chain Hoists [2], Gantry Crane, Instrumentation & Control System, Tool Racks, and End Effectors.

The active portions of the ROSRS Robotics System are located inside of the Containment Structure. The primary functions of the Robotics System are to cut (plasma and mechanical cutting) radioactively contaminated glove boxes, tanks, and other miscellaneous items into small pieces and then manipulate the pieces for sorting and placement into Standard Waste Boxes (SWBs).

Operations performed by the ROSRS during size reduction of an item include; item receiving, size reduction, sorting/queuing, standard waste box loading, and closure/exchange
The majority of these operations are executed by tele-operated robotics enhanced by taught cutting paths. The size reduction operation is comprised of several discrete tasks: programming the cutting robot, cutting, and then transport of the cut piece to either a waste box or to the sorting table. Most cutting will be accomplished with a plasma arc torch. Other cutting tools include a spindle and an abrasive saw.

The sorting table provides a buffer to de-couple the size reduction operation from the standard waste box loading operation, placing thick pieces on the sorting table to allow cooling, and are sorted according to waste specification type prior to loading in a standard waste box.
Each waste output station consists of a space for standard waste box, a glove port station, a breadbox door for access to the SWB, and a pallet scale to monitor weight of the SWB during loading. SWB loading can proceed using two SWBs simultaneously. Cut pieces are delivered to the waste output station either directly from being cut or from the sorting table using the manipulator or hoist. Operators at the glove port stations assist with cut piece placement in a SWB.
When a SWB is full, the waste output door is closed to separate the glove port station from the SWB below providing a protective barrier from continuing cutting operations. The site operators then perform normal bag-out operations and perform any necessary surveys and decontamination prior to moving a filled SWB from the chamber to the staging area.
The ROSRS has recently successfully completed all pre-installation testing including a continuos uninterrupted 13 hour demonstration of all functions. Upon selection of an appropriate site by the DOE, the ROSRS will be installed for final testing prior to operational readiness.