Abstract
(1) Background: Non-destructive evaluation of double-shell nuclear-waste storage tanks at the U.S. Department of Energy’s Hanford site requires a robot to navigate a network of air slots in the confined space between primary and secondary tanks. Situational awareness, data collection, and data interpretation require continuous tracking of the robot’s location. (2) Methods: Robot location is continuously monitored using video image analysis for short distances and laser ranging for absolute location. (3) Results: The technique was demonstrated in our laboratory using a mockup of air slot and robot. (4) Conclusions: Location tracking and display provide decision support to inspectors and lay the groundwork for automated data collection.
Highlights
IntroductionHanford double-shell tanks (DSTs) have been used for interim storage of partially liquid nuclear waste since their construction in years 1971–1986
Double-shell tanks (DSTs) are a critical part of the infrastructure at the U.S Department of Energy’sHanford site, where a large volume of defense-related nuclear waste is being managed and processed toward ultimate storage in an immobilized state
Figure 22shows showsa screen a screen shot of graphical the graphical user interface developed to the display the position of the robot in an air slot
Summary
Hanford DSTs have been used for interim storage of partially liquid nuclear waste since their construction in years 1971–1986. They are expected to continue to serve this function until 2050, which is the target date for completion of the immobilization process for all Hanford nuclear waste. If this target is reached, DSTs will have been used 14–15 years beyond their original projected lifetime [1]. For the approximately 30 years, the integrity of Hanford DSTs for storage of nuclear waste will need to be monitored.
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