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Simulation tools for robotic and teleoperated hazardous waste removal

机译:用于机器人和遥控危险废物清除的仿真工具

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The primary mission of Oak Ridge National Laboratory (ORNL) during World War II was the processing of pure plutonium metal in support of the Manhattan Project. Between 1943 and 1951, the Gunite and Associated Tanks (GAAT) at ORNL were built to collect, neutralize, and store the radioactive by-products. Currently, twelve gunite tanks and four stainless steel tanks are located on the ORNL complex. These tanks hold approximately 75,000 gal of radioactive sludge and solids and over 350,000 gal of liquid. Characterization studies of these tanks in 1994 indicated that the structural integrity of some of the tanks is questionable. Subsequently, there is presently an aggressive program directed towards the remediation and relocation of waste stored in the ORNL tanks. A number of factors complicate the remediation process. The material stored in these tanks ranges from liquid to sludge and solid and is composed of organic materials heavy metals, and radionuclides. The tanks, which range from 12 to 50 ft in diameter, are located below ground and in the middle of the ORNL complex. The only access to these ranks is through one of three access ports that are either 12 or 24 in. in diameter. These characteristics provide a daunting challenge: How can material be safely removed from such a confined structure? This paper describes the existing strategy and hardware presently used in the remediation process. This is followed by a description of an integrated hardware system model. This investigation has isolated a few key areas where further work is needed.
机译:第二次世界大战期间,橡树岭国家实验室(ORNL)的主要任务是加工纯p金属,以支持“曼哈顿计划”。在1943年和1951年之间,ORNL的Gunite和相关坦克(GAAT)的建立是为了收集,中和和储存放射性副产品。目前,ORNL大楼上有十二个炮石坦克和四个不锈钢坦克。这些水箱可容纳约75,000加仑的放射性污泥和固体,以及超过350,000加仑的液体。 1994年对这些储罐的特性研究表明,某些储罐的结构完整性值得怀疑。随后,目前有一个积极的计划,旨在对存储在ORNL储罐中的废物进行补救和重新安置。许多因素使修复过程复杂化。这些槽中存储的材料范围从液体到污泥和固体,由有机材料,重金属和放射性核素组成。这些坦克的直径在12到50英尺之间,位于地面以下和ORNL中心的中间。进入这些等级的唯一途径是通过直径为12或24英寸的三个入口之一。这些特征提出了艰巨的挑战:如何从这样的密闭结构中安全地去除材料?本文介绍了目前在修复过程中使用的现有策略和硬件。接下来是对集成硬件系统模型的描述。这项调查隔离了一些需要进一步工作的关键领域。

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