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DOE OSTI2023

Los Alamos National Laboratory Floodplain Assessment for the TA-72 Guard Post 10 Expedited Vehicle Lane Project

The National Nuclear Security Administration (NNSA), a semi-autonomous agency within the U.S. Department of Energy (DOE), is proposing new construction in lower Sandia Canyon at Technical Area (TA) 72 at the Guard Post 10 vehicle inspection station at Los Alamos National Laboratory (LANL). The proposed project is intended to provide expedited inspection times for vehicles transporting time sensitive loads, such as concrete and asphalt. The project activities within the 100-year floodplain include installation of 1) installation of an expedited vehicle inspection lane, 2) relocation of a 4-strand wire fence, 3) possible relocation of at least one power pole, and 4) a laydown area (Figures 1 and 2).

42 ENGINEERING↗

DOE OSTI2024

Plant Disease Detection Technology Assessment

Visual inspections by US Customs and Border Protection agriculture specialists have identified approximately 20,000 regulated, quarantined pests each year in agricultural products entering the United States. Most of these pests identified in the Agriculture Quarantine and Inspection (AQI) program are insects. Many pathogens are difficult to detect in agricultural products, particularly in early stages of infection. New technologies can help to detect plant pathogens and the diseases that they cause. This technology assessment was performed for the US Department of Homeland Security Science and Technology Directorate (DHS S&T) through the Food, Agriculture, and Veterinary Defense (FAV-D) program to identify emerging technologies that could address this hard problem. These emerging technologies differ in their diagnostic sensitivities and specificities, as well as in their measurement time and training requirements. New instruments that detect volatile organic compounds characteristic of plant disease or pathogens could provide a less invasive inspection method. Dogs, which can successfully detect many concealed agricultural products, have also been trained to detect some plant pests and pathogens. Simple immunological tests offer sensitive and specific detection of many pathogens at the point of use. Advanced imaging methods that use AI to sort fruits and vegetables and recognize anomalies at high speeds could be used in cooperation with exporters to improve food quality and reduce pests. Advances in nucleic acid–based detection methods that have become gold standards for confirmatory diagnostics are now making those methods available for faster, point-of-use detection. These new methods should be developed in the context of AQI operational requirements, which apply risk-based sampling protocols to protect agriculture and facilitate commerce and passenger transit.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2022

Status of Eddy Current Developments at INL

Both standard and advanced Light Water Reactor (LWR) fuel systems are composed of fuel pellets enclosed in a metallic cladding. The fuel cladding represents the first containment of the fission products and the first safety barrier. Upon progression of irradiation, the cladding properties deteriorate, mainly due to the pick-up of hydrogen, which causes embrittlement, and the consequence corrosion that reduced the metallic substrate. Those changes in the properties combined with the harsh environment, e.g., fatigue and fretting occurring during operation, might eventually lead to loss of hermeticity. Therefore, it is important to be able to quantify the amount of corrosion taking place and to detect and size structural discontinuity that can promote cladding failure. Eddy current testing is one of the non-destructive methods employed for this purpose. Inspections are carried out using special probes, which are designed and optimized to inspect a tube with well-defined geometrical and physical characteristics, i.e. external diameter, wall thickness, material electric conductivity and magnetic permeability. The inspection goals are mainly twofold: first, the determination of the amount of corrosion by measurement of the external oxide thickness; second, the detection of flaws in the tube wall, ether on the external or the internal surface of the tube. This report summarizes the available capabilities for eddy current testing of LWR fuel claddings, identifies needs and are of developments for testing of ATF claddings.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2024

Inspecta Technical Report

Sandia National Laboratories (SNL) is in the process of creating Inspecta (International Nuclear Safeguards Personal Examination and Containment Tracking Assistant), an Artificial Intelligence (AI)-powered smart digital assistant (SDA) with robotic capabilities, aimed at enhancing the effectiveness, efficiency, and safety of international nuclear safeguards inspections. This innovative tool is designed to assist inspectors on-site by supporting or automating tasks that are typically mundane, hazardous, or susceptible to errors. In 2021, the development team established the specifications for Inspecta by analyzing International Atomic Energy Agency (IAEA) documents and consulting with former IAEA inspectors and subject matter experts. This process involved aligning in-field inspection tasks with existing commercial or open-source technologies to outline a roadmap for the initial prototype of Inspecta, while also identifying areas needing further research and development. From 2022 – 2024, the focus has shifted to integrating a critical inspection activity, the examination of seals, into an early version of Inspecta. This has involved developing both the software and hardware capabilities necessary for this task. This report outlines the ongoing advancements in Inspecta's functionalities, specifically those supporting the seal examination process.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

New Tank Mapping Method Improves Waste Removal Process

Savannah River Mission Completion is the Liquid Waste (LW) contractor at the Savannah River Site (SRS). The LW mission is tasked with treating and disposing of legacy nuclear waste. There are multiple facilities involved in this work, including the Concentration, Storage, and Transfer Facilities (CSTF), the Defense Waste Processing Facility (DWPF), the Salt Waste Processing Facility (SWPF), and the Saltstone Production Facility (SPF). The CSTF includes 43 underground waste tanks used to store and support processing of radioactive liquid waste. Waste removal activities, such as salt dissolution campaigns and sludge agitation, are conducted within the CSTF waste tanks to convert the waste into a form that allows for downstream processing at other LW facilities. While performing these waste removal campaigns, camera inspections are performed to assess the quantity and distribution of the remaining waste within the waste tank (i.e. saltcake or sludge). Understanding the quantity and distribution of the salt/sludge within the waste tanks allows for improved waste removal strategies (e.g. mixing pump operation) and refined safety controls. Typically, several camera inspections are performed during a waste removal transfer to verify the elevation of the visible salt/sludge mounds against the known elevation of the liquid surface. The camera inspection footage must then be interpreted by a trained engineer who will develop a 2-D map that depicts the waste distribution at various elevations within the waste tank. This tank mapping is then used in conjunction with conservative assumptions to evaluate the volume of saltcake or sludge that is present within the waste tank.

Mini, Melany↗

DOE OSTI2025

New Tank Mapping Method Improves Waste Removal Process

Waste Tank Mapping Overview • Camera inspections are performed within available tank top risers and used to create waste tank maps – Several camera inspections are performed during waste removal transfers to verify the elevation of the visible salt/sludge mounds against the known elevation of the liquid surface • Tank mappings are used to evaluate the volume and distribution of saltcake or sludge that is present within the waste tank – Allows for refined operating strategies and process safety controls • New tank mapping process creates a standardized approach for accurately defining waste distribution within a waste tank while minimizing the required camera inspection footage – First utilized during the 2023 Tank 22 Sludge Removal Campaign

Mini, Melany [Savannah River Mission Completion (S↗

DOE OSTI2025

Fitness For Service Assessment of a Corroded Heat Exchanger

Within the Fermi National Accelerator complex, there exist various water systems that support accelerator operations. One of these systems is extremely vital to the operation of the machine; that is the cooling system. The cooling system consists of nine relatively large heat exchangers that take untreated pond water and use it to cool the process fluid that further cools machine components. Over the 30 years these heat exchangers have been in operation, they have undergone significant material loss on the channels. This material loss, due to various forms of corrosion such as galvanic and microbiologically influenced corrosion (MIC) and possibly others, has deteriorated more than 80% of the nominal wall thickness of some of the exchangers and placed them in a questionable state. ASME FFS-1 (API 579) has been applied to address the condition of the heat exchangers due to their noncompliance with the governing code, BPVC Sec. VIII Div. 1. The assessments encompassed ASME FFS-1 parts 4: General Metal Loss and 9: Crack Like Flaw using level 1, 2, and 3 analysis techniques based on inspection data obtained by API 510 inspections. Level 1 and 2 assessments were deemed unfit for the corroded regions due to their location relative to a major structural discontinuity (channel to tube-sheet joint), so a level 3 analysis was conducted according to ASME Sec. VIII Div. 2 (design by analysis) rules for pressure vessels. Supplemental information included pond water tests to determine an accurate future corrosion allowance due to lacking inspection history. A leak before break (LBB) route was chosen to evaluate the possibility of leaking prior to the onset of failure. The analysis of one heat exchanger shows that the possibility the channel will develop a pinhole leak over 2.5 more years of operation should not be overlooked, but burst was unlikely from operation. The use of fracture mechanics show, that if a through-wall crack were to develop, it would not propagate further than the channel geometry and cause a leak not greater than 35 GPM. Using ASME Section XI Code Case N-705-1, allowing us to operate with a leak until the next outage given certain operating conditions and developing a leak mitigation procedure, this heat exchanger is deemed fit-for-service.

Humenik, Alex [Fermilab]↗

DOE OSTI2025

Measuring 3D Profilometry of SAVY-4000 Nuclear Material Storage Containers: Novacam TubeInspect Capabilities Report

The SAVY-4000 container series is a general-purpose interim storage container for nuclear materials, developed and maintained by Los Alamos National Laboratory (LANL). It is the first vented, general-use nuclear material container to be demonstrated as meeting the requirements outlined in DOE M 441.1-1, the Nuclear Material Packaging Manual. Due to the challenging radiation, thermal, and corrosive storage conditions that the SAVY containers must endure, continuous surveillance techniques are employed to ensure the containers meet all safety standards and specifications. These inspections are typically performed by human operators, who check for issues such as corrosion, O-ring deterioration, corrosion, filter integrity, and potential manufacturing defects. However, human inspections alone are not sufficient, and automated inspection technologies, such as the ATIS system, as well as other automated systems are also utilized. The MicroCam TubeInspect, developed by Novacam Technologies Inc., is designed to address the challenges of understanding how manufacturing variations in the SAVY-4000 container series may affect performance. It is a 3D profilometry measurement system that enables detailed analysis of surface features, including defects, surface roughness, and manufacturing variations. This advanced tool significantly enhances rapid surveillance techniques for both pristine and used containers. In this study, container properties such as surface roughness, thickness, and geometric attributes like circularity are measured for SAVY-4000 containers. Artificially corroded or dented containers are examined to demonstrate the MicroCam's ability to quantify defects. A sensitivity analysis is also conducted, comparing the MicroCam results to those obtained using more precise instruments such as confocal microscopy. This comparison aims to provide valuable insights into container quality, durability, and potential improvements in manufacturing processes.

42 ENGINEERING↗

DOE OSTI2025

Inspecta Technical Report

Sandia National Laboratories (SNL) has developed Inspecta (International Nuclear Safeguards Personal Examination and Containment Tracking Assistant), an AI-powered smart digital assistant (SDA) equipped with robotic capabilities. This innovative tool aims to enhance the effectiveness, efficiency, and safety of international nuclear safeguards inspections. Inspecta is designed to assist inspectors on-site by supporting or automating tasks that are often mundane, hazardous, or prone to errors. In 2021, the development team established the specifications for Inspecta by thoroughly analyzing International Atomic Energy Agency (IAEA) documents and consulting with former IAEA inspectors and subject matter experts. This process involved aligning in-field inspection tasks with existing commercial and open-source technologies, thereby creating a roadmap for the initial prototype of Inspecta and identifying areas requiring further research and development. From 2022 to 2025, the focus shifted to integrating a critical inspection activity—the examination of seals—into an early version of Inspecta. This phase has involved the development of both software and hardware capabilities essential for this task. This report outlines the advancements in Inspecta’s functionalities, particularly those that support the seal examination process.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

DOE OSTI2026

Nondestructive Evaluation of Carbon Fiber Reinforced Polymers

The American Society of Mechanical Engineers Boiler and Pressure Vessel Code requires repair and replacement of safety-related piping materials to meet the original Construction Code; however, no construction criteria currently exist for carbon fiber reinforced polymer (CFRP) materials in the nuclear industry. Although nondestructive examination (NDE) techniques for cast and wrought ferritic and austenitic steels are well established, licensees are increasingly deploying novel materials such as CFRP for which assessment of the use of NDE is required, as the inspectability of such materials and the influence of manufacturing processes on inspectability remain insufficiently understood. To address these gaps, Pacific Northwest National Laboratory (PNNL) evaluated the fabrication of several CFRP repair mockups and the effectiveness of NDE methods to support regulatory review of CFRP repairs in nuclear power plant applications. Representative flat-plate mockups containing realistic fabrication defects were manufactured and inspected using manual and automated tap testing, dynamic response spectroscopy (DRS), and ultrasonic testing (UT). The study identified significant fabrication variability, particularly in controlling defect size and epoxy thickness, which strongly influenced defect detectability by NDE methods. Tap testing was effective for shallow defects in thin epoxy configurations but unreliable for thicker repairs and deeper flaws. DRS demonstrated higher sensitivity to dry spots but produced unconfirmed indications for thicker plates, requiring further validation. Conventional UT, particularly at 1.0 MHz, showed the strongest overall capability for detecting a range of defects, although performance degraded with increasing repair thickness and complexity. The results highlight the need to better define critical defect sizes, develop reliable mockup fabrication methods, and validate NDE methods needed to support CFRP repairs.

36 MATERIALS SCIENCE↗

DOE OSTI2026

Draft ASME Code Case to qualify L-PBF 316H material for Section III, Division 5 applications

This report documents the AMMT program’s development and submission of a draft ASME Code Case to qualify Laser Powder Bed Fusion (L PBF) Type 316H stainless steel for Section III, Divi-sion 5 Class A and SM high temperature nuclear applications. It summarizes the technical basis, the comprehensive high temperature mechanical test database assembled between 2023–2026, and the proposed code language and qualification framework submitted to ASME. The work was co-ordinated across multiple national laboratories and leverages prior ASME efforts to integrate additive manufacturing into the Boiler & Pressure Vessel Code. The body of the report describes the experimental database and analysis supporting the Code Case: tensile, creep, fatigue, creep fatigue, and thermal aging tests collected from multiple additive manufacturing sites, machine types, and powder lots, with material processed by a solution anneal heat treatment. The dataset — including both full size and subsized specimens and tests oriented parallel and perpendicular to build direction — shows limited tensile anisotropy, tensile properties comparable to wrought 316H, creep strength within the scatter of wrought material, but markedly reduced creep ductility above about 650 °C associated with rapid σ phase formation in L PBF microstructures. The draft Code Case itself prescribes a staged qualification model (manufacturing process qualification, component qualification, and per build witness testing), treats L PBF components as equivalent to Type 316 weld metal for design and inspection, and requires mechanical, chemical, and metallographic controls tied to ASTM/ISO 52946. Key acceptance criteria include tensile tests within a 90% prediction interval of the AMMT dataset, a creep fatigue screening test adapted from ASME Section III, Division 5, Subsection HB, HBB 2800 but with the cycle acceptance reduced to 100 for L PBF material, and double volumetric inspection of production components. The report concludes that the present data support treating L PBF 316H as analogous to conventional fusion weld metal for Division 5 design and inspection, while highlighting important caveats: the σ phase driven loss of creep ductility above ~650 °C, preliminary indications of enhanced creep fatigue sensitivity in some lots, and remaining gaps in long term aging and additional cyclic testing. Recommended next actions include completing outstanding cyclic and long duration creep/aging tests on the solution annealed condition, supporting inclusion of the 316H chemistry and heat treatment in ASTM/ISO 52946, and continuing engagement with ASME and NRC during balloting and review to enable industry adoption.

Messner, Mark C. (ORCID:0000000200404385)↗

DOE OSTI2020

A PROVEN APPROACH FOR EFFECTIVE COMPUTER SECURITY SELF-ASSESSMENTS AT NUCLEAR FACILITIES

A proven method for conducting cybersecurity self-assessments at nuclear power plants is now available for international use. This method was originally developed by Pacific Northwest National Laboratory, under the sponsorship of the U.S. Nuclear Regulatory Commission (NRC), for use at U.S. nuclear power plants. The “Method,” described in NUREG/CR-6847 “Cyber Security Self-Assessment Method for U.S. Nuclear Power Plants,” was originally a limited release document that was withheld from public disclosure but is now publicly available. The Method provides a systematic, phased, and risk-informed approach to help decision makers and security specialists understand their relative cybersecurity posture. Completed Method assessments may be used to support or validate selection of computer security controls to mitigate cyber threats as well as demonstrate compliance with regulations or statutes enacted by competent authorities. The Method assesses the cybersecurity posture of key systems at a nuclear facility with a focus on protection of design base functions. It considers both physical and digital elements of system vulnerabilities and the resulting potential consequences from exploitation. It is well-suited for addressing blended cyberattacks. A semi-quantitative analytical approach is used in the evaluation of potential vulnerabilities, consequences, and risks and provides a technical basis for the selection of security controls to mitigate cyberattacks. The Method’s application at U.S. nuclear power plants has been very encouraging. The only nuclear plant in the United States that did not have adverse findings during its initial NRC computer security inspection prepared for inspection through the diligent application of this self-assessment method and the implementation of recommendations that came out of that self-assessment. Nuclear facilities around the world might find application of the Method extremely helpful for making cost-effective, risk-based decisions regarding computer security and for preparing to pass computer security inspections by their competent authorities.

Cyber security, Nuclear security, Self-assessment↗

DOE OSTI2022

Simurgh: A Framework for Cad-Driven Deep Learning Based X-Ray CT Reconstruction

High-resolution X-ray computed tomography (XCT) is an important technique for the inspection of additively manufactured (AM) parts. While XCT is typically used off-line to inspect a subset of manufactured parts, significantly accelerating measurement speed while retaining accuracy would enable use of XCT for in-line inspection to rapidly identify defects in each part as it is manufactured. Here, we propose a deep learning (DL) based approach that uses computer aided design (CAD) models of the AM parts and physics-based information to rapidly produce high-quality reconstructions from sparse XCT measurements without high quality ground truth data. Our approach uses a generative adversarial neural network (GAN) to produced realistic training data from the CAD-based simulations and a deep neural network that is trained using data from the first stage to produce accurate 3D reconstructions. Using experimental XCT data of metal parts, we demonstrate enhanced defect detection capabilities while dramatically reducing the scan time.

Ziabari, Amir↗

DOE OSTI2022

Robotic end effector system with surface tracking and methods for use

A non-destructive inspection system is presented. The non-destructive inspection system comprises a robotic end effector having an extendable actuator and a flange-mounted roller containing an ultrasonic sensor, the flange-mounted roller connected to the extendable actuator by a pivot connection, the extendable actuator configured to extend the flange-mounted roller until the flange-mounted roller contacts an inspection surface.

Troy, James J.↗

DOE OSTI2020

WIPP Safety Significant Confinement Ventilation System (SSCVS) Quality Assurance Program - 20237

Construction and major equipment fabrication are underway for a new ventilation exhaust system at the Waste Isolation Pilot Plant (WIPP). The new system will provide continuous HEPA filtration of the exhaust from the WIPP underground while meeting the ventilation demands for expanded waste emplacement and mining operations over the next 40 years. The SSCVS project has proceeded with the awarding of CD-3A for Long Lead Procurements followed by CD-2/3 approval for the construction of the facilities. The SSCVS project team made the decision to increase the quality oversight throughout the complete project per the Project Quality Assurance Plan (PQAP) such that it can ensure the final products meet applicable NQA-1 requirements and general quality requirements, and that the project will proceed to operations without significant delays due to post installation quality concerns. The PQAP was established prior to approval of the project at the CD-2/3 milestone. The SSCVS project has 2 major long lead procurements which commenced with the awarding of CD-3A. These procurements include the HEPA filter housing assemblies and the Exhaust Fans. There are 22 HEPA filter assemblies for the SSCVS, which are designated Safety Significant for pressure boundary confinement, per the approved PDSA. The exhaust fans also have Safety Significant components to maintain the pressure confinement boundary. NWP made the decision to install resident Quality Inspectors at the fabrication facilities to ensure the documentation for each fabricated unit meets all the QA requirements as defined in the respective contract documents. For the construction of the SSCVS Salt Reduction Building (SRB) and New Filter Building (NFB), dedicated, on-site quality inspectors have been utilized to ensure that all work being performed will comply with quality requirements and the Special Inspections as defined in IBC-2015. At each stage of inspection, hold points are placed into the work packages to ensure NWP QA personnel are present to inspect and verify the installations are in accordance with the design specifications, codes and standards. With this level of oversight, NWP anticipates that the level of quality related issues, as seen on multiple other DOE complex site projects, will be avoided and that the commissioning, start-up and hot operations will progress in a timely fashion, as all documentation will be in place and approved prior to initiation of these activities. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2020

Aging of Concrete for the Evaluation of Repair Materials to Protect the Walls of the HCAEX Tunnel at Savannah River - 20301

H-Canyon, located in the Savannah River site, is a unique facility for chemical reprocessing of plutonium, highly-enriched uranium, and other radioactive materials. The exhaust gases of the H-Canyon are sent through the H-Canyon Exhaust (HCAEX) tunnel for contamination removal. Robotic inspections of the tunnel revealed significant degradation of the reinforced concrete structure that was associated with acid attack, and could compromise the structural stability of the tunnel. Thus, the identification and evaluation of potential repair materials that could be applied on the degraded walls to mitigate and prevent further degradation is of significant interest to the Department of Energy and the Savannah River representatives. This research effort has been divided into two phases: 1) Development and evaluation of aged concrete under accelerated aging conditions (which is the focus of this paper) and 2) Evaluation of potential repair materials applied on aged and non-aged concrete under simulated aggressive conditions. In order to develop and evaluate concrete samples exposed to accelerated aging conditions in simulated aggressive environments, a literature review of the HCAEX tunnel was conducted that included 1) characterization and extent of the concrete damage, 2) environmental conditions inside the tunnel and 3) primary deterioration mechanisms. In addition, potential coatings and/or repair materials for degraded concrete surfaces exposed to aggressive environments (primarily acidic) were selected from the literature review and the most common testing and measurements for evaluating acid attack phenomena, erosion, etc. were reviewed. From the literature review findings, a preliminary bench-scale test plan for the concrete aging was developed, including accelerated aging tests with aggressive conditions (acid fumes, humidity, etc.). Concrete samples were exposed to the aging accelerated conditions (e.g. immersion in acid solutions) and visual inspection, mass loss and pH change (acid solution) were recorded over time. Correlations between the visual inspection, mass loss and pH changes results and the aging time or the aging conditions were developed. Specimens submitted to the highest acid concentration showed the fastest and most intense degradation. The type of coarse aggregate (limestone) used for the concrete seemed to be the cause of the fastest aging observed, compared to the cement paste. The research findings created the foundation for the ongoing investigation, in which new concrete samples with a mix design similar to the HCAEX tunnel will be tested and will serve as the substrate for testing the selected coatings and /or repair materials. In this paper, the literature review and preliminary results from the aging tests are provided. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2021

Active Neutron Interrogation as a Method for Verification of the Absence of Special Nuclear Material in Arms Control Dismantlement

The next step in arms control reductions will deal with both strategic and non-strategic weapons, presenting new and hard challenges for verification. One verification approach that might be used in support of these reductions is the concept of deferred verification, which forgoes inspections at sensitive nuclear sites and relies on an inspection regime having access to the open segment of a State's nuclear sector, in "monitored transfer zones." A component of this approach is the anticipated need for an instrument suite capable of detecting well-shielded highly-enriched uranium or plutonium where it isn't supposed to be. This specific need was recently identified by the United Nations Institute for Disarmament Research in an enabling operating concept they call "contain and dispose." At the foundation of this approach is the idea that items declared as "not nuclear" are, by definition, not treaty limited and are thus "fair-game" for inspection and questioning. Active Neutron Interrogation (ANI), using beta-delayed neutron emissions as the signature for special nuclear material (SNM) detection, is a promising method to address this challenge. The method is quick, has high sensitivity and high specificity for detecting shielded SNM, is robust against changing background radiation environments, is robust against the presence of unknown shielding, and avoids the use of gamma-ray spectrometry which may introduce complications due to the potential release of sensitive information. This paper will present recent research activities exploring technical aspects of using ANI as a FAIRGAME verification method and discuss future prospects and research needs

46 - INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AN↗

DOE OSTI2026

WM26 Paper Multi-Robot Collaboration for Hazardous Environments

Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.

42 - ENGINEERING↗