Search NASA⌕ Search

SEARCH · Search NASA

Results for “REACTOR DECOMMISSIONING”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 109 records · Page 6

Innovative Accident Tolerant Fuel Materials May Help Extending the Life of Light Water Reactors: A Perspective

One of the main sources of clean electricity in the civilian power grid comes from light water reactors (LWRs). Some of these LWRs are being decommissioned prematurely because they may not be economically sustainable. It is proposed that the use of accident-tolerant fuel concepts may enable for LWR plant operation extension by making them safer and more economically competitive to operate. For example, the use of iron-chromium-aluminum (FeCrAl) alloys for the cladding of the fuel would not only reduce the risk of catastrophic reaction between the cladding and its environment in the case of a loss of coolant accident situation but also, for example, allow for higher fuel burnup during normal plant operation.

Materials Science↗

Comparison and investigation of production of specific nuclides by different fission yield data

Generally, passive gamma spectroscopy (PGS) is known as a useful technique for nondestructive measurement of burnup and nuclide production in normal spent nuclear fuel. However, PGS can be used not only for normal spent fuel, but also for molten fuel generated in severe accidents involving core meltdowns. In such cases, it is estimated by the radioactivity ratios of specific nuclides. At the time of the decommissioning of the Three Mile Island's unit 2 reactor, fission products (FPs) such as Cs{sup 134}, Cs{sup 137}, Ce{sup 144}, Eu{sup 154}, Ru{sup 106}, and Sb{sup 125} were concerned. The radioactivity ratios are estimated by numerical simulations. However, there are various uncertainties in numerical simulations. In this study, we evaluated the effect of the difference in fission yield data. We compared the productions of concerned nuclides of Three Mile Island's unit 2 reactor by using Tokyo-tech and JENDL FP Fission Yields Data File 2011(FPY- 2011). Tokyo-tech is newly created by Tsubakihara et al. at Tokyo Institute of Technology. FPY-2011 is currently the latest fission yield data in Japan. In the concerned nuclides, the relative difference (Tokyo-tech/FPY-2011 -1) in the production of Sb{sup 125} is 4.5% and that of Eu{sup 154} is -5.6%. The relative difference in the production of Sb{sup 125} is found to be caused by the difference in the independent yields of Sn{sup 125}, In{sup 125}, Cd{sup 125}, Ag{sup 125}, and Pd{sup 125}. The relative difference in Eu{sup 154} is found to be caused by the relative difference in the production of Sm{sup 152} and the relative difference in the cumulative yield of Eu{sup 153}.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

Overview/Recap of the 2020 Accelerated Irradiation of Reactor Structural Materials Workshop

The workshop provided a snapshot look at current international, in-reactor testing and irradiation capabilities. Gaps were identified where possible, and discussions focused on potential mitigation strategies and recommended paths forward. As new material innovations are being developed for in-reactor applications for reactor life extension long-term operation, and advanced reactor technologies, there is an increased need for materials qualification and assessment programs. In-reactor testing capabilities are vital to the on-going success of these DOE-NE programs and initiatives. In recent years, multiple international research reactors have been placed in a permanent shut-down state and have begun full decommissioning. These activities have created new risks in the delivery of on-going and/or expected research programs. Beyond performing simple irradiations in test reactors, few facilities exist internationally which can perform instrumented, in-situ irradiations on structural materials, and with the recent shut down of facilities hosted at Halden and NRU (example: instrumented fatigue loop, and in-situ creep), there are further gaps in the industry left un-filled. A new focus is being placed on the use of accelerator- based technologies to fill in some of these gaps, but these must be viewed as supplemental, and not surrogates to in-reactor capabilities

36 - MATERIALS SCIENCE↗

Cyber-Informed Engineering for Nuclear Reactor Digital Instrumentation and Control

As nuclear reactors transition from analog to digital technology, the benefits of enhanced operational capabilities and improved efficiencies are potentially offset by cyber risks. Cyber-Informed Engineering (CIE) is an approach that can be used by engineers and staff to characterize and reduce new cyber risks in digital instrumentation and control systems. CIE provides guidance that can be applied throughout the entire systems engineering lifecycle, from conceptual design to decommissioning. In addition to outlining the use of CIE in nuclear reactor applications, this chapter provides a brief primer on nuclear reactor instrumentation and control and the associated cyber risks in existing light water reactors as well as the digital technology that will likely be used in future reactor designs and applications.

42 ENGINEERING↗

Reactors Section Presentation - INL, HPS Society 2025

The ongoing Nuclear Renaissance includes many next generation reactor designs and testing, this means translates to increased demand for Health Physicists. These opportunities are not limited to just reactors but the entire fuel cycle from mining and extraction from existing tailings, R&D support efforts at new start-up companies, to shielding modeling and design, to Recycling and Reprocessing, and eventually Decommissioning.

Health Physics↗

An Atom Probe Tomography Study of the Through Wall Attenuation Effect on Cu-rich Precipitate Formation in a Reactor Pressure Vessel Steel

In this study, high-Cu weld material harvested from an ex service reactor pressure vessel (RPV) steel from Unit 1 of the decommissioned Zion Nuclear Generating Station has been characterized using atom probe tomography. Samples taken from 4 different positions through the thicknesses of the pressure vessel wall from the water-side to the air-side were characterized, along with an unirradiated baseline material. In the baseline material, no precipitates were found and the Cu was observed to be fully in solid solution; however, scanning transmission electron microscopy combined with energy dispersive spectroscopy (STEM-EDS) revealed the presence of ϵ -Cu that form during processing of the material and results in the concomitant decrease of matrix Cu. Following irradiation, a high number density of nano-scale Cu-rich precipitates (CRPs) were observed, uniformly distributed throughout the matrix. The Cu content within the CRPs was found to be ~30-35 at.% regardless of location in the wall. No statistically significant variation in the compositions, mean radius, number density, or volume fraction as a function of location within the wall was observed. The measured matrix Cu level excluding CRPs contribution was found to be ~90 appm higher than the solubility limit suggesting that further nucleation and growth of the CRPs under continued operations would have occurred. These results clearly demonstrate that the neutron energy attenuation has no significant effect on the precipitation kinetics of CRPs regardless of location in the wall in high-Cu RPV steels under irradiation.

36 MATERIALS SCIENCE↗

Disposition Options for Sodium Cooled Fast Reactor (A White Paper)

The sodium-cooled fast reactor (SFR) design concept is one of the six classes of nuclear reactors in the GenIV initiative. SFRs are uranium or plutonium-fueled reactors operating in the fast neutron spectrum using liquid sodium as the coolant. SFRs can be designed as a breeder reactor or actinide-burning reactor in addition to operating the thorium fuel cycle. While having different fuel designs, the anticipated waste streams, and the necessary management strategies for spent nuclear fuel (SNF) and radioactive wastes from SFRs are very similar. This includes the SNF, activated sodium coolant, in-core stainless-steel components, piping, resins and filters, solidified liquid waste, contaminated equipment, and other radioactive wastes. Modern SFR designs are based on a long and rich operating history of several liquid-metal-cooled fast reactors with sodium coolant. Several of these reactors have been shut down, the fuel has been placed in safe storage, and they have undergone some degree of decommissioning. As such, there is significant experience in the management of the SNF and radioactive wastes associated with operating these reactors. This white paper will identify the definitions and regulations that apply to the safe and secure management, storage, and disposal of radioactive waste and identify the key radioactive waste streams from SFRs. Idaho National Laboratory has significant experience in the management of the SNF from the SFR predecessors. This experience should form the basis for the management and disposition efforts of the radioactive waste from any new SFR-type small modular reactor or microreactor intended for deployment at the Idaho National Laboratory Site

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

A White Paper: Disposition Options for a High-Temperature Gas-Cooled Reactor

The high-temperature gas-cooled reactor (HTGR) is a uranium-fueled, graphite-moderated, gas-cooled nuclear reactor design concept capable of producing very high core outlet temperatures. Both types of HTGR have the tristructural isotropic (TRISO) fuel kernel at the heart of the fuel design. For the prismatic block-type HTGR, the TRISO particles are overcoated with a resinated graphitic matrix and pressed into fuel compacts, which are then heat treated and placed in the fuel channels of the prismatic-block-shaped fuel assemblies. For the pebble-bed-type HTGR, the TRISO particles are dispersed in a graphitic-matrix sphere, which is the basic unit for the reactor core. Despite having very different fuel designs, both types of HTGR are graphite-moderated, gas-cooled, thermal reactors using many of the same materials. As a result, both prismatic-block-type and pebble-bed-type HTGRs have similar radioactive waste streams, all of which require safe and secure storage and eventual disposition. Modern HTGR designs are based on a long and rich operating history of several different graphite-moderated, gas-cooled, thermal reactors. Several of these reactors have been shut down, the fuel has been placed in safe storage, and they have undergone some degree of decommissioning. As such, there is significant experience in the management of the spent nuclear fuel (SNF) and radioactive wastes associated with operating these reactors. This white paper will, (1) identify the definitions and regulations that apply to the safe and secure management, storage, and disposal of radioactive waste; and (2) identify the key radioactive waste streams from HTGRs and their characteristics. Idaho National Laboratory (INL) has significant experience in the management of SNF from HTGR predecessors. This experience should form the basis for the management and disposition efforts of the radioactive waste from any new HTGR-type small modular reactor, or microreactor intended for deployment at the INL site.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Demand Driven Cycamore Archetypes

Future nuclear fuel cycle options may present advantages over today’s once-through fuel cycle. Nuclear fuel cycle simulation tools assess the performance of those fuel cycles as well as the dynamics of long-term technology transitions. In many nuclear fuel cycle simulation tools, it has historically been the responsibility of the user to manually define facility deployment schemes and all facility parameters. While this is straightforward in simple fuel cycles, transitions from one fuel cycle to another can be more complex. In particular, deployment schemes for supportive fuel cycle facilities beyond the reactor become complex if the analyst desires to avoid gaps in the nuclear fuel and power supply chain during those transition scenarios. As nuclear fuel cycle analysis approaches questions regarding the feasibility and performance of the deployment schemes and technology choices during technology transition, automation of this historically manual process is necessary. The main objective of this work was to develop and demonstrate Cyclus automation capabilities toward key nuclear fuel cycle transition scenarios. While deploying reactors to meet power demand is trivial, and existed in the earliest versions of CYCLUS, automated, predictive deployment and decommissioning of other facilities is more complex. These include mining, milling, enrichment, fuel fabrication, reprocessing, and others. For example, a balanced closed fuel cycle may require ensuring that there is enough fast reactor fuel for their operation and may drive deployment of a fleet of light water reactors. This concern comprises the main challenge that drove the project effort. The Demand-Driven Cycamore Archetype project (NEUP-FY16-10512) aimed to develop CYCAMORE demand-driven deployment capabilities and thereby automate transition scenario definition. The developed software package, d3ploy, in the form of a CYCLUS Institution agent, deploys Facilities to meet the front-end and back-end demands of the fuel cycle. The University of South Carolina and the University of Illinois applied multiple algorithmic approaches to this challenge. This project developed an in situ demand-driven development schedule calculation through non-optimizing, deterministic-optimizing, and stochastic-optimizing algorithms as CYCLUS archetypes and demonstrated these new archetypes in program-supporting fuel cycle transition scenarios. Both objectives were achieved. This report documents the results and deliverables obtained toward these achievements in detail.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Nuclear waste attributes of near-term deployable small modular reactors

The nuclear waste attributes of near-term deployable SMRs were assessed using established nuclear waste metrics, which are the DU mass, SNF mass, volume, activity, decay heat, radiotoxicity, and decommissioning LLW volumes. Metrics normalized per unit electricity generation were compared to a reference large PWR. Three SMRs, VOYGR, Natrium, and Xe-100, were selected because they represent a range of reactor and fuel technologies and are active designs deployable by the decade’s end. The SMR nuclear waste attributes show both some similarities to the PWR and some significant differences caused by reactor-specific design features. The DU mass is equivalent to or slightly higher than the PWR. Back-end waste attributes for SNF disposition vary, but the differences have a limited impact on long-term repository isolation. SMR designs can vary significantly in SNF volume (and thus heat generation density). However, these differences are amenable to design optimization for handling, storage, transportation, and disposal technologies. Nuclear waste attributes from decommissioning vary depending on design and decommissioning technology choices. Given the analysis results in this study and assuming appropriate waste management system and operational optimization, there appear to be no major challenges to managing SMR nuclear wastes compared to the reference PWR.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Innovative Approaches to the Decommissioning of a Redundant Plutonium Processing Facility - 20147

At Sellafield, in the North West of the United Kingdom (UK), there are a number of redundant plutonium processing facilities. Over the past three decades several decommissioning strategies have been deployed to clean up these redundant facilities. Whilst there have been many successes previously reported, there remain many challenges. As previously presented at WM2017 (Paper Ref 17081) some of these challenges have recently been addressed through a new approach which introduced a number of innovations. The purpose of these innovations is to seek ways to significantly reduce risks to both decommissioning personnel and the environment by minimising the extent of physical 'hands on' decommissioning activities and by simplifying the waste production process. This paper provides an update on the progress of these innovations since 2017. Additionally, the paper also provides details of the new decommissioning technologies which have been introduced over the past 2 years to enable the most challenging aspects of the redundant plutonium processing facility to be decommissioned. These new decommissioning technologies address challenges associated with the preparation of process vessels and pipework to enable their safe in-situ size reduction by remote means: - New decommissioning techniques have been introduced to allow penetrations to be remotely cut into process vessels and pipework to provide a means of accessing and controlling the venting of any potential hydrogen gas present. - Additionally, a new large scale bespoke remote diamond wire cutting machine has been designed and manufactured to enable the process vessels to be size reduced in situ. Both of these new cutting technologies have involved collaborative working with specialist equipment suppliers including extensive development, trialling demonstration and commissioning prior to bringing the equipment into operational service. Several years of work have now culminated in reaching the final stages of decommissioning of the redundant plutonium processing facility with decommissioning of the final process vessels now underway and completion expected by the end of 2019. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Development of a Scalable Risk-informed Predictive Maintenance Cloud-based Strategy at Nuclear Power Plants

The fact that light-water reactor operation and maintenance costs are prohibitively expensive and contribute to the premature decommissioning of nuclear power plants is partly due to how the equipment is monitored. In recent years, cloud computing has emerged as a dominant technology, as its low cost, computing and storage adaptability, and ability to host applications across numerous virtual infrastructures potentially make it a cost-effective alternative to onsite storage and diagnostics. In this paper, a technological assessment is carried out on a provisional cloud deployment architecture for a nuclear power plant predictive monitoring system. This cloud-based monitoring system would enable maintenance and diagnostic analysts and other authorized plant users to remotely monitor equipment functionality, thus enabling early fault detection and effective predictive maintenance practices. To provide data processing and storage, sensor device networking, and database management, the Microsoft Azure cloud platform is utilized as part of the proposed cloud architecture; however, this analysis could be extended to other cloud computing service providers as well. The focus of this paper is on application of cloud resources for enabling predictive maintenance, identification of technological hurdles associated with moving to a cloud-computing-based architecture, and potential benefits from moving to a centralized cloud system.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Preliminary Plan for Evaluation of Reactor Pressure Vessel Surveillance Materials from Palisades Nuclear Generating Station

The Palisades Nuclear Generating Station (PNGS), located in Michigan, is owned and operated by Entergy. It is a Combustion Engineering 2-loop pressurized water reactor (PWR) producing 805 MWe (2,565 MWth). The PNGS was built between 1967 and 1970, with approval to operate at full power in 1973; the plant’s original license was due to expire on March 24, 2011. An application for 20-year extension was filed in 2005 with the Nuclear Regulatory Commission and was granted on January 18, 2007. Although the plant was scheduled for decommissioning by 2031, Entergy currently plans to close the PNGS in 2022. The PNGS included in its reactor pressure vessel (RPV) surveillance program a capsule, designated A-60, containing specimens of one of the vessel plates and a weld metal with nickel content of about 1.36 wt% and copper content of about 0.20 wt%. This capsule was irradiated to a fluence of 1.8 x 10 20 n/cm 2 . The capsule was removed from its surveillance position in 1995 and has been resident in the spent fuel pool since that time. The material is also of special interest because of its very high nickel content and because of the potential for development of NiMnSi (nickel-manganese-silicon) precipitates, dubbed “late blooming phases.” The surveillance program also includes a capsule, designated T-150, dedicated specifically for thermal aging, which would provide results for at least 33 effective full power years, which is beyond the current thermal-aging database for such materials. Given that license extensions to 60 years of operation have been approved by the US Nuclear Regulatory Commission for most of the currently operating light water reactors in the United States, and that the first extension to 80 years was recently approved, there exists the probability that some RPVs will reach and possibly exceed a fast neutron fluence (> 1 MeV) of 1 x 10 20 n/cm 2 . This is a fluence regime with no US surveillance data and very little test reactor data, except for the Light Water Reactor Sustainability Program–sponsored University of California Santa Barbara Advanced Test Reactor (ATR) ATR-2 project. Thus, the materials in the A-60 capsule represent a valuable resource for directly exploring the effects of commercial surveillance irradiation on a typical plate and a high-nickel weld with similar materials irradiated in the ATR-2 test reactor project. This report provides background information for the surveillance program, previous results of surveillance materials testing, the preliminary plan for capsule retrieval and disassembly, and the plan for testing and microstructural examination of the mechanical test specimens of these unique materials to assess the features induced by very high irradiation fluence or very long thermal aging time

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

A Risk Communication Success Story

A key success of the decommissioning effort at the National Aeronautics and Space Administration's (NASA's) Plum Brook Reactor Facility (PBRF) has been the public outreach program. The approach has been based on risk communications rather than a public relations approach. As a result it has kept the public feeling more involved in the process. It ensures they have the information needed to understand the project and its goals, and to make recommendations. All this is done so that NASA can better plan and execute the necessary work without delays or suprises.

Peecook, Keith↗

Evaluation of Hybrid FPOG Applications in Regulated and Deregulated Markets Using HERON

Recent changes in the U.S. energy market, such as low natural gas prices and increased electricity production for variable renewable energy (VRE) sources, have led to an economic crisis for existing light-water reactor (LWR) nuclear power plants (NPP). Many owners and operators of LWRs have elected to decommission these plants rather than continue using them as consistent sources of clean baseload power. This has led to exploration of various possibilities to increase the economic viability of these units, including market restructuring to monetize benefits LWRs already provide to the grid through ancillary markets, load following and economic dispatch, and possible integration of secondary systems directly to the NPP for production of additional products through technologies such as hydrogen electrolysis or water desalination. Previous studies have considered the technologies associated with these Integrated Energy Systems (IES) activities, and the analysis of markets for these secondary products. To analyze the economic viability of various system configurations including IES, especially given the uncertainty surrounding load demand, electricity prices, and the availability of VRE resources, the stochastic technoeconomic analysis package HERON (Heuristic Energy Resource Optimization Network) was released earlier this year as an extension of the risk analysis framework RAVEN (Risk Analysis Virtual Environment). HERON focuses foremost on making the complex uncertainty quantification analysis tools approachable for energy systems analysts, also providing general dispatch optimization algorithms for those workflows. HERON continues to be improved and tested as a significant part of the IES viability analyses performed in this work. HERON is not a capacity expansion model. To consider market and grid energy system development in a variety of scenarios, HERON is best used in coupling with modelling tools such as US-REGEN, which sacrifice some of the uncertainty analysis and resolution of HERON's modelling for the ability to efficiently predict the change in the grid energy system's profile due to economic drivers over decades. HERON can then use this information to explore the economic viability of introducing changes to the predicted outcomes, such as the introduction of an IES. In this work, experts at EPRI using US-REGEN provide six projection scenarios for use in HERON stochastic technoeconomic analysis (STEA) in considering the options available for increasing LWR economic viability through introduction of a hydrogen-centric IES using a high-temperature steam electrolysis plant (HTSE), hydrogen storage, and a constant-rate contracted hydrogen consumer. The results obtained are differential in nature; they do not report expected profits for any configuration, but rather report on the possible increase in the NPV of a configuration with respect to a baseline no-IES configuration. Due to the uncertainty captured in the variable net load of the systems, there is likewise uncertainty in the mean values reported. We consider this viability both in terms of a regulated market, where the energy producers and IES are owned and operated by single entity, as well as a deregulated market, where the IES chooses its bid for electricity generation and is then dispatched by the grid system operator. Results indicate that for deregulated markets, the inclusion of the IES is often statistically beneficial. This is especially true in policies that are not favorable towards nuclear, as nuclear is less often dispatched and is forced to deal with frequent idle capacity. In the nominal case as well as the case of carbon tax policies, inclusion of the IES clearly benefited the economic performance of the NPP. In the regulated case, however, there was a trend towards minimizing the IES, likely due to the optimal sizing performed by US-REGEN of the NPP within the system as well as the lack of penalty for idle capacity at the NPP in the regulated market analyses.

99 GENERAL AND MISCELLANEOUS↗

Development of a Cloud-based Application to Enable a Scalable Risk-informed Predictive Maintenance Strategy at Nuclear Power Plants

Light-water reactor operations and maintenance (O&M) costs are prohibitively high, thus contributing to the premature decommissioning of nuclear power plants (NPPs). This is partly due to how the equipment is monitored. In recent years, cloud computing has emerged as a dominant technology by virtue of its low costs, computing and storage adaptability, and ability to host applications over numerous types of virtual infrastructures. Cloud computing can be a cost-effective alternative to onsite storage and diagnostics. This paper conducts a techno-economic assessment of a provisional cloud deployment architecture for a NPP predictive monitoring (PdM) system. The cloud-based monitoring system would enable maintenance and diagnostics (M&D) analysts and other authorized plant users to remotely monitor equipment functionality so as to enable PdM practices and early detection of faults. The Microsoft Azure cloud platform is included in the proposed cloud architecture to provide data processing and storage, sensor device networking, and database management; however, this analysis could be extended to other cloud computing service providers as well. For the techno-economic assessment, technical feasibility is measured in terms of network performance metrics such as response time, latency, and throughput, whereas economic feasibility is measured in terms of operational costs and capital expenditures. Finally, this report covers certain regulatory and security aspects that may concern licensees looking to implement cloud computing. The report focuses on the integration of sensor database storage, the application of cloud resources to PdM, and the identification of technological and economic hurdles associated with moving to a cloud-computing-based architecture.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

Panel Session 4 and 15: Japan Fukushima Daiichi D and D Update and Technological Challenges at Japan Fukushima Daiichi D and D and Update on Nuclear Overview and Development in Japan - Nuclear Fuel Cycle

Sessions 4 and 15 represent a two-part panel series that discusses progress and challenges associated with cleanup at Fukushima. Severe limitations on availability of original panelists from Japan due to strict restrictions put in place to alleviate the spread of coronavirus necessitated changes to both panels. The result was a significantly modified panel for Session 04 (shown above) and the elimination of all panelists for Session 15. The 4 and 15 Panel Sessions provide an overview of activities related to both the progress and challenges of cleanup and decommissioning of the Fukushima Daiichi Nuclear Power Station (NPS) in Japan. Five panelists discussed perspectives of the cleanup following a Tokyo Electric Power Company (TEPCO) video showing the progress on site since the devastating Great East Earthquake and tsunami that caused the explosions at three of the six reactors on the site. Three of the five panelists discussed on-going work being performed for the effort, while the other two provided expert perspectives of on strategic efforts at the site. The panel was attended by over 80 technologists and policy makers spanning the globe and was opened by Dr. Monica Regalbuto of Idaho National Laboratory and a short video provided by TEPCO. The video described changes at the site that spanned the cleanup efforts from stabilizing water intrusion into the contaminated reactor buildings to construction of new administrative facilities. The video explained the processes underway to retrieve spent fuel rods and challenges in retrieval of the compromised fuel debris. The video highlighted working condition improvements that included establishment of rest housing and a small convenience store on the site, and the rollback of protective equipment around the site due to decreases contamination. Panelists with presentations: Revision of 'the Mid-and-Long-Term Road-map towards the Decommissioning of TEPCO's Fukushima Daiichi Nuclear Power Station' (Paul Dickman); Sharing UK experience at Fukushima Daiichi (Adrian Simper); SRNL Japan (Andrew Fellinger); ABLE's Initiative to Dismantle the Exhaust Stack (Daniel Walter); JAEA R and D in Fukushima (Tokio Fukahori); TEPCO - Overview and Update of the Fukushima Decommissioning Process (Monica Regalbuto); Toshiba's Involvement in the Decommissioning of the Fukushima Daiichi Nuclear Power Plant (Yasuhiro Yuguchi); Remote Dismantling of the Exhaust Stack At Fukushima Dai-ichi NPS (Takashi Okutsu)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Machine Vision-based Robot Manipulators for Nuclear Applications - 20370

Decommissioning and dismantling of nuclear facilities are major challenges facing the nuclear industry. Robot manipulators with capabilities of restoring nuclear structures and significantly prolonging nuclear power generation in addition to their applications in decommissioning and dismantling (D and D) would immensely ease the above-mentioned challenge. Ability to remotely sense/monitor and analyze dangerous and hazardous environments such as nuclear reactors as well as performing reparatory tasks in such environments using robot manipulators require additional information from vision sensors. Structural sample collection and inspection as well as restoration require object and position information. Computer vision is used to obtain precise 3D position information. The current work uses the Sawyer robot with the integrated Cognex camera. The research presents an approach to facilitate and improve operations in a nuclear reactor using robotic vision control. The vision control system is modeled with Augmented Image Space-based visual servoing approach. Results showing accurate robot control. Object recognition is used to recognize the image and calculate it poses. To transform coordinates of the object's pose from the camera frame to the robotic frame transformation matrices are employed. Future work will employ a 3D camera (with depth information) using Denso robot. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗