Minichan, Richard | Search NASA

DOE OSTI2019

Savannah River Site H-Canyon Collaborative Advanced Technology Demonstration (ATD) Program Review - 19499

The purpose of the Department of Energy-Environmental Management Office of Technology Development's (DOE-EM TD) Science of Safety (SOS) Robotics Initiative is to pull innovative commercial off the shelf (COTS) and near ready technologies to the field to expedite remaining EM mission clean up and enhance worker safety. A goal of this program is to demonstrate to DOE facilities the value of these available new technologies and their potential uses to solve difficult problems. In support of this goal, the Savannah River Site (SRS) H-Canyon Air Exhaust (HCAEX) tunnel biannual inspection task has been selected to demonstrate and evaluate the benefit of pulling advanced technology solutions to EM facilities. This is a highly collaborative task facilitated by SRNL and engaging SRS H-Canyon facility stakeholders, National Laboratory robotic and concrete inspection SMEs and university robotic and sensor researchers. Presently, the SRS HCAEX tunnel inspection consists of a visual examination to evaluate the structural integrity of the tunnel. Personal access is prohibited in the tunnel due to extreme conditions, thus the examination is accomplished remotely by deploying cameras mounted on a robotic crawler deployed into the tunnel. While the ability to see inside the tunnel in recent years has been highly valuable, it is desirable to have a better understanding of the environment to support a more thorough structural analysis and for long term planning purposes. This higher order of understanding can be accomplished through advanced COTS sensors and tools and those currently in development and near ready. The advanced technologies selected for demonstration will be evaluated for hosting on the FY19 HCAEX tunnel inspection crawler platform. The HCAEX ATD task is expected to be performed over a two-year period with year one now concluding. At WM2018, we presented the H-Canyon stakeholder's high priority inspection and remote handling needs, the collaboration team and the planned process of developing an integrated solution. This presentation will review the initial scope and inspection needs, then discuss the past year's progress to address these needs. The discussion includes the results of the Concrete Integrated Product Team (CIPT) formed to evaluate promising concrete NDE inspection technologies and a Lidar based tunnel mapping sensor suite solution. Highlighted in the discussion will be the engagement and pulling of university developed research and development to include student engagement through the formation and hosting of the SRNL Robotics and Sensors Intern team and collaboration with MSIPP funded Robotic Arm Concrete NDT Inspection University researchers. Lastly, the path forward to complete the demonstration will be presented. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2019

Gamma Imaging and Mapping Advancements

The SRNL developed GrayQb{sup TM} gamma mapping system has been successfully deployed in field situations. Currently, to get the image from the GrayQb{sup TM} the internal Phosphor Storage Plate (PSP) used to capture radiation images must be recovered and scanned by a ScanX Scanner. Upgrades are being implemented which will enable the GrayQB{sup TM} to read the PSP using a camera and red LEDs then transmit results to a remote location. This will greatly reduce personnel interaction, increasing safety as well as eliminating the need for the ScanX. Upgrades have been based off of the MiniMax, a Los Alamos National Laboratory developed PSP reading device constructed with a Nikon DSLR and a red LED flash to obtain the images from the PSP. The electronics in the upgraded GrayQb{sup TM} need to be both functional and environmentally rugged. A PC/104 was chosen for its wider operational temperature range and its physical durability. The Sony α7 ii and the Mightex are the candidate cameras for the upgrades based on test results. PSPs were exposed to gamma radiation sources at SRS's Health Physics Instrumentation Calibration Laboratory (HPICL). PSPs were tested with both Am-241 and Cs-137. Linear intensity increased with dose verifying UV image simulations. Data collected enabled the PSP intensity to be referenced to a total dose. Further work includes design and implementation of a 3D printed housing for the new camera system. The housing will include the camera, light flash, PSP holders, tungsten dual pinhole, PC/104, dosimeter, and a battery or tethering option. Once the housing is finalized further testing at the HPICL facility is planned for early August. During this testing, the final housing design will capture both Am-241 and Cs-137 images.

3D PRINTING↗

DOE OSTI2018

Robot deployable air sampling development suite

Many areas exist within the DOE EM complex where it is desired to obtain a better understanding of the environment through the use of sensors. Many of these areas are hazardous and/or inaccessible to humans requiring the development of capabilities and technologies to remotely access these areas for monitoring. Often it is desired to understand the air quality and basic environmental parameters of these inaccessible areas. The focus this LDRD was to identify and procure air and environmental sampling sensors of common interest to DOE facilities such as pH, Nitric Acid Concentration (NOx), humidity, temperature, and air velocity. Additionally, it was desired to procure a robotic platform as a basis developing a remotely deployable air sampling suite.

54 ENVIRONMENTAL SCIENCES↗