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Robotics For TECHNICAL PROGRESS REPORT ROBOTIC TECHNOLOGIES FOR THE SRS 235-F FACILITY Date Submitted: August 12, 2016 Principal: Leonel E. Lagos, PhD, PMP® FIU Applied Research Center Collaborators: Peggy Shoffner, MS, CHMM, PMP® Himanshu Upadhyay, PhD Alexander Piedra, DOE Fellow SRNL Collaborators: Michael Serrato Prepared for: U.S. Department of Energy Office of Environmental Management Cooperative Agreement No. DE-EM0000598 DISCLAIMER This report was prepared as an account of work sponsored by an agency of the United States government. Neither the United States government nor any agency thereof, nor any of their employees, nor any of its contractors, subcontractors, nor their employees makes any warranty, express or implied, or assumes any legal liability or responsibility for the accuracy, completeness, or usefulness of any information, apparatus, product, or process disclosed, or represents that its use would not infringe upon privately owned rights. Reference herein to any specific commercial product, process, or service by trade name, trademark, manufacturer, or otherwise does not necessarily constitute or imply its endorsement, recommendation, or favoring by the United States government or any other agency thereof. The views and opinions of authors expressed herein do not necessarily state or reflect those of the United States government or any agency thereof. FIU-ARC-2016-800006472-04c-235 Robotic Technologies for SRS 235F TABLE OF CONTENTS Executive Summary ...................................................................................................................................... 1 Introduction ................................................................................................................................................... 2 Experimental Design ..................................................................................................................................... 3 Results ........................................................................................................................................................... 6 Future Work ................................................................................................................................................ 11 Appendix A ................................................................................................................................................. 12 iii FIU-ARC-2016-800006472-04c-235 Robotic Technologies for SRS 235F LIST OF FIGURES Figure 1. Knowledge Management Information Tool for D&D – website. .................................................. 4 Figure 2. KM-IT Robotics Module. .............................................................................................................. 4 Figure 3. Characterization and Inspection Technologies. ............................................................................. 8 Figure 4. Decontamination Robotics Technologies. ..................................................................................... 8 Figure 5. Decontamination Robotics Technologies ...................................................................................... 9 Figure 6. Retrieval/Humanoids and Other Technologies. ........................................................................... 10 iv FIU-ARC-2016-800006472-04c-235 Robotic Technologies for SRS 235F EXECUTIVE SUMMARY In support of the DOE-FIU Cooperative Agreement under Project 3 (Waste and D&D Engineering and Technology Development), Task 2 (D&D Support for Technology Innovation, Development, Evaluation and Deployment), the Applied Research Center (ARC) at Florida International University (FIU), in close collaboration with Savannah River National Laboratory (SRNL), is leading the development and implementation of a phased approach to improve the operational effectiveness of fixative technologies in the critical area of fire resistance to better address the unique deactivation and decommissioning (D&D) challenges being faced by the Savannah River Site (SRS) 235-F Project and other high priority efforts across the DOE complex. Taking advantage of firsthand knowledge and experience of ARC research scientists in the use of robotic technologies for D&D activities across the DOE Complex, a study was initiated to identify robotics and remote system technologies that may have application in the various D&D challenges faced at the SRS 235-F facility. This research was conducted under FIU “Task 2.1.3: Robotic Technologies for SRS 235-F”. The SRS 235-F facility has a need to identify a remote system that can make a one-time entry into highly contaminated areas. The one-time-entry requirement indicates that the technology will not be retrieved at the end of the work, but would remain inside the facility due to the high levels of contamination. FIU performed research to identify robotic technology systems applicable to the challenges and needs of the SRS 235-F facility. Research included working with SRNL to define the requirements for the robotic technology and utilizing the Robotic Database in D&D KM-IT to search and identify potential technologies that meet the defined requirements. The results of the study culminated in a compilation of almost 500 robotics and remote systems technologies from across the world. The technologies are presented in tabular form in Appendix A of this report. These technologies will form the initial database to promote discussions with SRS 235-F facility personnel and identify the best fit for potential application to SRS 235-F D&D challenges. The potential application of these robotic and remote system technologies to several of the most pressing D&D challenges across the DOE Complex was also identified. ARC will continue to work with SRS, HQ and other DOE sites to expand this initial effort and identify D&D application across the DOE Complex. 1 FIU-ARC-2016-800006472-04c-235 Robotic Technologies for SRS 235F INTRODUCTION During the past couple of years, robotics has received increased interest in the effort to deactivate and decommission (D&D) legacy facilities across the U.S. Department of Energy (DOE) complex. Many of these facilities pose hazards which prevent the use of traditional industrial demolition techniques. Such hazards include radiological, chemical, and hazardous materials contamination and structural instability. Efficient and safe D&D of the facilities will almost certainly require the use of remotely operated technologies to protect personnel and the environment during potentially hazardous D&D activities and operations. The D&D Knowledge Management Information Tool (KM-IT) contains over 1,200 D&D technologies, including over 500 robotics and remote system technologies that can be used in D&D activities across the DOE Complex. A large number of the robotics and remote systems technologies contained within the KM-IT system comes from collaboration between DOE HQ and NuVision/Cogentus where a database of robotics technologies was developed. The resulting database was provided to FIU for incorporation into the KM-IT system. This research was conducted under FIU “Task 2.1.3: Robotic Technologies for SRS 235-F Facility” as part of the DOE-FIU Cooperative Agreement Year 6 work scope. The SRS 235-F facility has a need to identify a remote system that can make a one-time entry to highly contaminated areas. The one-time-entry requirement indicates that the technology will not be retrieved at the end of the work, but would remain inside the facility due to the high levels of contamination. FIU performed research to identify robotic technology systems applicable to the challenges and needs of the SRS 235-F facility. Research included working with SRNL to define the requirements for the robotic technology and utilizing the Robotic Database in D&D KM-IT to search and identify potential technologies that meet the defined requirements. The deliverable which was a summary report on robotic technologies applicable to the SRS 235-F facility was reforecast to August 12, 2016. The circumstances and path forward, including the new reforecast date for this deliverable, have been closely coordinated with the stakeholders at Savannah River Site and DOE HQ. FIU discussed the issue with the SRNL collaborators and confirmed the agreement of the new deliverable date with an email sent to SRS on May 24, 2016 and DOE HQ contacts on May 27, 2016. The results of this research are presented in Appendix A of this document. Appendix A contains a compendium of almost 500 robotics and remote systems applicable for D&D operations. The technologies were classified by application purpose (i.e., decontamination, characterization, dismantlement, etc.) as well as Technology Development Level (i.e., commercial, research & development). In addition, a brief description is provided for each technology along with vendor contact information and corresponding URL/website. 2 FIU-ARC-2016-800006472-04c-235 Robotic Technologies for SRS 235F EXPERIMENTAL DESIGN Various robotics and remote system technologies were researched via: (1) FIU D&D technology databases (D&D KM-IT), (2) Peer-reviewed journal publications/literature searches, (3) Internet searches, (4) Professional conferences and forums, and (5) Vendor/manufacturer engagement and interface. Research results were used to assemble a robust compendium of robotics and remote systems technologies presented in Appendix A. Knowledge Management Information Tool D&D work is a high priority across the DOE complex. Subject matter specialists associated with the
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