Results for “Robotics Technology” — Page 6

DOE OSTI2018

Teleoperation for Nuclear Applications Considering Communication Delay and Uncertainty - 18205

Teleoperation in remote environment is of great interest in robotics. Advancement in communication technology has enabled safe execution of complex and life threatening tasks in network environment in teleoperation. Using bilateral teleoperation, the operator receives force feedback from the slave which provides an interactive feel of forces and smoother coordination. However, time delay across the communication link in sending the command signal from the master to the slave may cause instability to the system. In this research, we use the continuous pole placement method to address the time delay problem in teleoperation. Compared to approximation based and prediction based methods, this method shows improved robustness. Simulations and experiments show a stable and well synchronized control. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2018

Concrete material science: Past, present, and future innovations

Concrete is flying off, but it is simultaneously facing tremendous challenges in terms of environmental impact, financial needs, societal acceptance and image. Based on an historical approach of the science of concrete and reinforced concrete in particular, this paper calls for the exploration of radical changes in three key aspects of concrete use: reinforcement, binder content, and implementation methods. More precisely, it is suggested that, in parallel to the introduction of robotic fabrication methods, digital technologies may be key for the introduction several innovations like (i) rebar-free reinforcement using non-convex granular media; (ii) compression-optimized concrete structures, using topology optimization, architectural geometry, and 3D-printing or origami-patterned formworks; (iii) truly digital concrete through the coupling of massive data collection and deep learning.

36 MATERIALS SCIENCE↗

DOE OSTI2025

Adhesion of Self-Complementary, Sinusoidal Surfaces Fabricated Using Two-Photon Polymerization

Microscale, pick-and-place assembly is a non-lithographic assembly method poised to impact diverse fields including flexible electronics, microfluidics and robotics. However, a major technological challenge is the need to deterministically control adhesion between parts. Here, switchable adhesion involving 3D-printed, self-complementary surfaces is demonstrated. Mechanical properties of metasurfaces pressed against flat, rigid substrates are modeled using finite element methods. A series of flat slabs and metastructured slabs with 2D sinusoidal surfaces are printed using two-photon polymerization (2PP) of a shape-memory resin. The surface frequency of featured slabs was varied between $3.\bar3$ mm −1 and $26.\bar6$ mm −1 with similar amplitudes. Adhesion between printed metasurfaces and glass and between printed, self-complementary metasurfaces is studied above and below the cured resin’s glass transition temperature (∼45 °C). Simple heating of adhering surfaces to above 60 °C lowers adhesion, and compression of surfaces while above the glass transition temperature followed by cooling to room temperature elevates adhesion. The nominal adhesive strength between printed, self-complementary surfaces, as determined by the maximum observable pull-off stress, exceeds 3 MPa. Further tailoring complementary surfaces for adhesion control may facilitate microscale disassembly for recovery of components or precious metals.

amorphous materials↗

DOE OSTI2018

Accelerating the discovery of materials for clean energy in the era of smart automation

The discovery and development of novel materials in the field of energy are essential to accelerate the transition to a low-carbon economy. Bringing recent technological innovations in automation, robotics and computer science together with current approaches in chemistry, materials synthesis and characterization will act as a catalyst for revolutionizing traditional research and development in both industry and academia. This Perspective provides a vision for an integrated artificial intelligence approach towards autonomous materials discovery, which, in our opinion, will emerge within the next 5 to 10 years. The approach we discuss requires the integration of the following tools, which have already seen substantial development to date: high-throughput virtual screening, automated synthesis planning, automated laboratories and machine learning algorithms. In addition to reducing the time to deployment of new materials by an order of magnitude, this integrated approach is expected to lower the cost associated with the initial discovery. Furthermore, the price of the final products (for example, solar panels, batteries and electric vehicles) will also decrease. This in turn will enable industries and governments to meet more ambitious targets in terms of reducing greenhouse gas emissions at a faster pace.

36 MATERIALS SCIENCE↗

DOE OSTI2022

Robotic automation of droplet microfluidics

Droplet microfluidics enables powerful analytic capabilities but often requires workflows involving macro- and microfluidic processing steps that are cumbersome to perform manually. Here, we demonstrate the automation of droplet microfluidics with commercial fluid-handling robotics. The workflows incorporate common microfluidic devices including droplet generators, mergers, and sorters and utilize the robot's native capabilities for thermal control, incubation, and plate scanning. The ability to automate microfluidic devices using commercial fluid handling will speed up the integration of these methods into biological workflows.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2021

Novel and Emerging Capabilities that Can Provide a Holistic Understanding of the Plant Root Microbiome

In recent years, the root microbiome (i.e., microorganisms growing inside, on, or in close proximity to plant roots) has been shown to play an important role in plant health and productivity. Despite its importance, the root microbiome is challenging to study because of its complexity, heterogeneity, and subterranean location. Fortunately, root microbiome research has seen a tremendous influx of novel technologies (e.g., imaging tools, robotics, and molecular analyses), experimental platforms (e.g., micro- and mesocosms), and data integration, modeling, and prediction tools in the past decade that have greatly increased our ability to dissect the complex network of interactions between above- and belowground environmental parameters, plants, bacteria, and fungi that dictate soil and broader ecosystem health. Herein, we discuss methods that are currently used in root microbiome research and that can be expanded to phytobiome research in general ranging from laboratory studies to mesocosm-scale studies and, finally, to field studies; evaluate their relevance to ecosystem studies; and discuss future root microbiome research directions.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2020

Size Effects in the Thermal Conductivity of Amorphous Polymers

Manipulating thermal conductivity through nanoengineering is of critical importance to advance technologies, such as soft robotics, artificial skin, wearable electronics, batteries, thermal insulation, and thermoelectrics. Here, by examining amorphous polymers, including polystyrene, polypropylene, polyethylene, and ethylene vinyl alcohol, using molecular dynamics simulations, we find that the thermal conductivities of amorphous polymers can be reduced below their amorphous limit by size effects. Size-dependent thermal transport in amorphous materials is decomposed into crystalline, crystalline-to-amorphous, and amorphous regimes. In the amorphous regime, the mean free path of propagating heat carriers can range from tens of nanometers to more than 100 nm, contributing 16%–36% of the total thermal conductivity. A two-channel model that combines no size effect (i.e., difusons and locons) and size effect (i.e., propagons) is proposed to account for size-dependent thermal conductivity. We also find that the presence of charged molecules in polymers can significantly affect the thermal conductivity and its size effects due to electrostatic interactions. Overall, this work provides insights into the thermal conductivity of amorphous polymers that will have a broad impact on the nano- and chemical engineering of polymers for various energy-related applications.

36 MATERIALS SCIENCE↗

DOE OSTI2015

Decommissioning of the NPP A-1 heavy water management system - 15121

The paper deals with experience and techniques in the application of decontamination technology and remotely controlled robotic devices for the decontamination and dismantling of the heavy water management system during undergoing decommissioning process of the A-1 NPP as well as treatment of arising liquid waste All of these activities are characterized by high level of radioactivity and contamination. During operation of the A-1 NPP the heavy water management system fulfilled several functions: (1) cooling of the moderator, (2) topping up of the moderator in the active zone, (3) drainage, feed and storage of heavy water, (4) capture of leaked heavy water. Closely associated with heavy water management were systems for separation and isotopic purification of heavy water (distilling station, removing organic impurities station, isotopic purification station). The NPP heavy water system is located inside the power block building in several rooms where the inner surface contamination is up to the level of 10 E4 Bq.cm{sup -2}, dose rate up to 15,0 mGy.h{sup -1} and the feeding pipeline contained liquid RAW with high tritium content. Pre-dismantling decontamination of the heavy water management system and associated systems had to be performed with the intention of improving the radiation situation, i.e. reducing contamination of internal surface and dose rates in the vicinity of the equipment. Various sophisticated procedures such as retrieval of sludge using remotely operated devices and loop chemical decontamination of internal surfaces were applied. The generated radioactive waste such as spent decontamination solutions and sludge were immediately solidified on-site into a geo-polymer matrix using a mobile conditioning facility. For dismantling and fragmentation of some devices, mobile robotic systems MT80 and MT15 were applied which had been developed, designed and constructed as general-purpose decommissioning equipment. Special tooling was developed for application with the robots, such as hydraulic shears, circular saw, reciprocating saw, circular pipe cutter and a system for quick tool-change without direct intervention of the operators. Most of the operations are remotely controlled on basis of visual information from four cameras, with consistent radiation protection of the operators. The implementation of partial decommissioning tasks in such hard and unfavorable radiation conditions (moreover accompanied by generation of specific high-content alpha radwaste) has introduced in practice several new unique decontamination and dismantling techniques and new procedures for the effective on-site processing of generated secondary radioactive waste, including sludge and sorbents. These advantageous techniques, equipment and experience will be exploited in the continuation of the A-1 NPP decommissioning process which has been organized according to distinctively licensed phases and are also being applied in the decommissioning of other NPP in Slovakia as well as abroad. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2025

A Behavioral Robotics Approach to Radiation Mapping Using Adaptive Sampling

Radiation mapping is a desirable task to automate because of the inherent risks involved and its tedious nature. A novel system was designed to address this by combining various existing technologies, utilizing behavior-based robotics and Bayesian optimization. The system uses a quadruped robot equipped with a manipulator and gamma detector to take measurements at locations that are selected based on the uncertainty of a surrogate model used to estimate the true radiation field. The robot uses input from the world with depth cameras to avoid collisions with the robot’s body, and unreachable points for the end effector are addressed by both allowing for a soft collision with the environment to occur, prompting the system to abandon that point, and varying the exploration tendency of the optimization based on consecutive collisions. This approach provides unique traversability and adaptability over other strategies in the literature. Experiments were performed by placing a Cesium-137 source on the ground and varying geometric setups and an optimization parameter demonstrating the adaptability to diverse environments and the increased robustness resulting from the designed behavior. The results additionally demonstrate that dynamically adjusting the optimization algorithm’s exploration tendency based on the arm’s collision history improves the system’s ability to navigate cluttered environments and construct accurate radiation maps without getting stuck in unreachable areas.

Adams, Joel↗

DOE OSTI2016

TH-C-BRC-01: An Overview of Emerging Technologies in SRS/SBRT Delivery

The delivery techniques for SRS/SBRT have been under rapid developments in recent years, which pose new challenges to medical physicists ranging from planning and quality assurance to imaging and motion management. This educational course will provide a general overview of the latest delivery techniques in SRS/SBRT, and discuss the clinical processes to address the challenges of each technique with special emphasis on dedicated gamma-ray based device, robotic x-band linac-based system and conventional C-arm s-band linac-based SRS systems. (1). Gamma-ray based SRS/SRT: This is the gold standard of intracranial SRS. With the advent of precision imaging guidance and frameless patient positioning capabilities, novel stereoscopic CBCT and automatic dose adaption solution are introduced to the Gamma-ray based SRS for the first time. The first North American system has been approved by the US regulatory for patient treatments in the spring of 2016. (2). Robotic SRS/SBRT system: A number of technological milestones have been developed in the past few years, including variable aperture collimator, sequential optimization technique, and the time reduction technique. Recently, a new robotic model allows the option of a multi-leaf collimator. These technological advances have reduced the treatment time and improved dose conformity significantly and could potentially expand the application of radiosurgery for the treatment of targets not previously suitable for robotic SRS/SBRT or fractionated stereotactic radiotherapy. These technological advances have created new demanding mandates on hardware and patient quality assurance (QA) tasks, as well as the need for updating/educating the physicists in the community on these requirements. (3). Conventional Linac based treatments: Modulated arc therapy (MAT) has gained wide popularities in Linac-based treatments in recent years due to its high delivery efficiency and excellent dose conformities. Recently, MAT has been introduced to deliver highly conformal radiosurgery treatments to multiple targets simultaneously via a single isocenter to replace the conventional multi-iso multi-plan treatments. It becomes important to understand the advantages and limitations of this technique, and the pitfalls for implementing this technique in clinical practice. The planning process of single-iso multi-target MAT will be described, and its plan quality and delivery efficiency will be compared with multi-iso plans. The QA process for verifying such complex plans will be illustrated, and pitfalls in imaging and patient set up will be discussed. Overall, this session will focus on the following areas: 1) Update on the emerging technology in current SRS/SBRT delivery. 2) New developments in treatment planning and Quality Assurance program. 3) Imaging guidance and motion management. Learning Objectives: To understand the SRS/SBRT principles and its clinical applications, and gain knowledge on the emerging technologies in SRS/SBRT. To review planning concepts and useful tips in treatment planning. To learn about the imaging guidance procedures and the quality assurance program in SRS/SBRT. National Institutes of Health, Varian Medical System; L. Ren, The presenter is funded by National Institutes of Health and Varian Medical System.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2016

TH-C-BRC-00: Emerging Technologies in SRS/SBRT Delivery

The delivery techniques for SRS/SBRT have been under rapid developments in recent years, which pose new challenges to medical physicists ranging from planning and quality assurance to imaging and motion management. This educational course will provide a general overview of the latest delivery techniques in SRS/SBRT, and discuss the clinical processes to address the challenges of each technique with special emphasis on dedicated gamma-ray based device, robotic x-band linac-based system and conventional C-arm s-band linac-based SRS systems. (1). Gamma-ray based SRS/SRT: This is the gold standard of intracranial SRS. With the advent of precision imaging guidance and frameless patient positioning capabilities, novel stereoscopic CBCT and automatic dose adaption solution are introduced to the Gamma-ray based SRS for the first time. The first North American system has been approved by the US regulatory for patient treatments in the spring of 2016. (2). Robotic SRS/SBRT system: A number of technological milestones have been developed in the past few years, including variable aperture collimator, sequential optimization technique, and the time reduction technique. Recently, a new robotic model allows the option of a multi-leaf collimator. These technological advances have reduced the treatment time and improved dose conformity significantly and could potentially expand the application of radiosurgery for the treatment of targets not previously suitable for robotic SRS/SBRT or fractionated stereotactic radiotherapy. These technological advances have created new demanding mandates on hardware and patient quality assurance (QA) tasks, as well as the need for updating/educating the physicists in the community on these requirements. (3). Conventional Linac based treatments: Modulated arc therapy (MAT) has gained wide popularities in Linac-based treatments in recent years due to its high delivery efficiency and excellent dose conformities. Recently, MAT has been introduced to deliver highly conformal radiosurgery treatments to multiple targets simultaneously via a single isocenter to replace the conventional multi-iso multi-plan treatments. It becomes important to understand the advantages and limitations of this technique, and the pitfalls for implementing this technique in clinical practice. The planning process of single-iso multi-target MAT will be described, and its plan quality and delivery efficiency will be compared with multi-iso plans. The QA process for verifying such complex plans will be illustrated, and pitfalls in imaging and patient set up will be discussed. Overall, this session will focus on the following areas: 1) Update on the emerging technology in current SRS/SBRT delivery. 2) New developments in treatment planning and Quality Assurance program. 3) Imaging guidance and motion management. Learning Objectives: To understand the SRS/SBRT principles and its clinical applications, and gain knowledge on the emerging technologies in SRS/SBRT. To review planning concepts and useful tips in treatment planning. To learn about the imaging guidance procedures and the quality assurance program in SRS/SBRT. National Institutes of Health, Varian Medical System; L. Ren, The presenter is funded by National Institutes of Health and Varian Medical System.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2018

Adaptation of Commercially Available Robots for Conditioning and Packaging ILW at Sellafield - 18282

The Legacy Ponds and Silos at Sellafield site contain some of the most hazardous Intermediate Level Waste (ILW) in the UK. As part of a multi-billion pound decommissioning programme, this waste will be retrieved and transported across the site for conditioning and packaging in the Box Encapsulation Plant (BEP). Current plans are to commence plant active commissioning in 2022, which will represent a major milestone in the UK nuclear decommissioning programme. Within the plant, skips of waste will be transferred from the shielded transport package into standard 3 cubic metre ILW containers. Waste from the Pile Fuel Storage Pond and First Generation Magnox Storage Pond will be immobilised in cementitious grout before being transferred to an adjacent store. Waste from the Magnox Swarf Storage Silo will not be immobilised in grout, but will be packaged, providing multi-barrier containment. During the concept design, the project team selected commercially available robots as the most viable technology for carrying out the numerous dexterous and repetitive tasks involved in characterising, conditioning and packaging the waste within the shielded 'hot' cells. Significant technical challenges had to be overcome during the design to adapt a commercially available robot for use within a high radiation / high contamination environment, where human access is not safe even for short periods of time. These challenges included: - Designing robot assemblies that could be retrofitted into the existing cell structure that was constructed as part of an earlier project but never completed; - Designing robot assemblies that could be recovered to their 'transport' position without requiring manual intervention; - Designing robot assemblies that could be remotely removed and replaced with new ones if they failed part way through the plant operational life; - Designing through-wall service and power connections that allow maintenance and recovery; - Designing control systems and human-machine interfaces that enable both manual and automated operation of the robot, whilst avoiding collisions with the in-cell cranes and other in cell furniture; - Assessing the radiation tolerance of all items. Bespoke computer simulations and full-scale development trials have been carried out, using non-active test materials, in order to demonstrate the Technology Readiness Level (TRL) required by Sellafield Limited (SL) at each stage of the project [1]. The results of these trials have been recorded in both video and written form so that they can form part of the project's Knowledge Management database. Detailed designs and specifications for the robot assemblies have been updated to incorporate the recommendations from the development trials. Procurement and manufacture of robot assemblies has already commenced to deliver two waste handling robots, two waste container lidding / swabbing robots and associated critical spares. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2016

TH-C-BRC-03: Emerging Linac Based SRS/SBRT Technologies with Modulated Arc Delivery

The delivery techniques for SRS/SBRT have been under rapid developments in recent years, which pose new challenges to medical physicists ranging from planning and quality assurance to imaging and motion management. This educational course will provide a general overview of the latest delivery techniques in SRS/SBRT, and discuss the clinical processes to address the challenges of each technique with special emphasis on dedicated gamma-ray based device, robotic x-band linac-based system and conventional C-arm s-band linac-based SRS systems. (1). Gamma-ray based SRS/SRT: This is the gold standard of intracranial SRS. With the advent of precision imaging guidance and frameless patient positioning capabilities, novel stereoscopic CBCT and automatic dose adaption solution are introduced to the Gamma-ray based SRS for the first time. The first North American system has been approved by the US regulatory for patient treatments in the spring of 2016. (2). Robotic SRS/SBRT system: A number of technological milestones have been developed in the past few years, including variable aperture collimator, sequential optimization technique, and the time reduction technique. Recently, a new robotic model allows the option of a multi-leaf collimator. These technological advances have reduced the treatment time and improved dose conformity significantly and could potentially expand the application of radiosurgery for the treatment of targets not previously suitable for robotic SRS/SBRT or fractionated stereotactic radiotherapy. These technological advances have created new demanding mandates on hardware and patient quality assurance (QA) tasks, as well as the need for updating/educating the physicists in the community on these requirements. (3). Conventional Linac based treatments: Modulated arc therapy (MAT) has gained wide popularities in Linac-based treatments in recent years due to its high delivery efficiency and excellent dose conformities. Recently, MAT has been introduced to deliver highly conformal radiosurgery treatments to multiple targets simultaneously via a single isocenter to replace the conventional multi-iso multi-plan treatments. It becomes important to understand the advantages and limitations of this technique, and the pitfalls for implementing this technique in clinical practice. The planning process of single-iso multi-target MAT will be described, and its plan quality and delivery efficiency will be compared with multi-iso plans. The QA process for verifying such complex plans will be illustrated, and pitfalls in imaging and patient set up will be discussed. Overall, this session will focus on the following areas: 1) Update on the emerging technology in current SRS/SBRT delivery. 2) New developments in treatment planning and Quality Assurance program. 3) Imaging guidance and motion management. Learning Objectives: To understand the SRS/SBRT principles and its clinical applications, and gain knowledge on the emerging technologies in SRS/SBRT. To review planning concepts and useful tips in treatment planning. To learn about the imaging guidance procedures and the quality assurance program in SRS/SBRT. National Institutes of Health, Varian Medical System; L. Ren, The presenter is funded by National Institutes of Health and Varian Medical System.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2025

Secure THz Communication in 6G: A Two-Stage DRL Approach for IRS-Assisted NOMA

Not Available

Shahwar, Muhammad [College of Computer Science and↗

DOE OSTI2023

The Evolution of Wayfinding Within Airports

The process of navigating within airports has evolved over the years, with various technologies emerging. Historically, wayfinding began with static signage and airport staff members before progressing into digital signs, interactive kiosks and displays. In recent years, wayfinding has continued along its digital path through the use of indoor positioning technology, mobile applications, and even robot guides. The future of wayfinding will likely be heavily linked to further digital developments such as facial recognition and autonomous vehicle navigation. This paper delves into the history of interior wayfinding in airports, its present state, and the anticipated future. Key wayfinding technologies are discussed in detail with an emphasis on smartphone applications. Other considerations such as traveler stress, legal issues, pandemic safety, and language barriers are included.

33 ADVANCED PROPULSION SYSTEMS↗

DOE OSTI2023

Friction Stir Scribe Joining of CFRP to Aluminum (Abstract)

The objective of this project is to develop and demonstrate friction stir scribe (FSS) joining of carbon fiber reinforced polymer (CFRP) to aluminum on light-duty vehicle body-in-white (BIW) joints. The project will also overcome the major obstacles of implementing FSS technology in a fully 3-D production robotic work cell and demonstrate the required CFRP-aluminum joint strengths in industrially relevant light-duty, BIW components. Specifically the project will develop the critical process technology, models and tools necessary to advance the FSS method through experimentation, validation at the laboratory scale, and integration into a production-like robotic environment. The ultimate goal is to demonstrate the technology on industrially relevant components based on process development and numerical simulation performed at scale.

42 ENGINEERING↗

DOE OSTI2016

SeeSnake: Radiological Characterisation of Complex Nuclear Spaces - 16162

Decommissioning of retired nuclear plant can be a difficult task for many reasons. A number of locations around the world have active cells awaiting decommissioning without a clear understanding of the internal structure and possible locations of radiological sources. Furthermore, many nuclear plant drawings and models do not reflect the 'as built' dimensions, and precise data required for safe and cost effective decommissioning is not readily available. This presents decommissioning teams with significant challenges when attempting to plan and execute their decommissioning programs. Due to the complex nature and constrained environments typical of legacy nuclear plant, it is often not possible to deploy traditional remote handling/inspection technologies. Even where possible, identifying the correct sensor, or suite of sensors, to characterize the environment is problematic. To address this common issue Create Technologies Ltd (Createc) and OC Robotics collaborated on SeeSnake, a project aimed at leveraging radiometric source mapping with 3D scanning and confined space remote handling. Createc's imaging and sensing systems have strong capabilities in the nuclear industry, led by their N-Visage products, as do OC Robotics' snake-arm robots as a remote deployment platform for confined and hazardous spaces. The snake-arm robot enables access through small penetrations with the ability to navigate internal structures and other obstacles without support from the environment; whilst multiple re-positioning of the N-Visage sensor, integrated with the snake-arm system, enables a thorough 3D map to be created. The SeeSnake project demonstrates the integrated systems ability to capture valuable radiation, visual and positional data enabling the characterization of a complex active environment. To mature the concept into an integrated, functional technology the SeeSnake partners overcame a number of challenges before demonstrating to key stakeholders in the UK nuclear industry. This paper describes these challenges and the solutions implemented, along with the results from early system trials and stakeholder demonstrations. It also addresses the next steps for the SeeSnake technology and identifies a number of applications which will may benefit from its exploitation. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2020

History of Ultrasonic Inspection of High-Level Waste Tanks at SRS - 20220

The Liquid Waste Disposition Projects (LWDP) Structural Authority and Inspection Engineering Support Group has teamed with the Materials Science and Technology Non-destructive Evaluation Group of Savannah River National Laboratory (SRNL) to implement a comprehensive In-Service Inspection (ISI) program for the High-Level Waste (HLW) tanks in the sites tank farms. The purpose of this program is to demonstrate the structural and leak integrity of the tanks to maintain the function of waste containment throughout the desired service life. Four types of waste tanks were constructed at Savannah River Site (SRS) from 1951 thru 1981 to store radioactive nuclear waste from the separations process. The Type I, II and III are carbon steel cylindrical tanks with varying degrees of access to the side walls and very limited access to the tank bottom. The tanks contain 750,000 to 1.3 million gallons of waste and are buried or backfilled with soil. The tanks are 75'-85' in diameter and 24'-33' from tank bottom to the tank roof. Inspection of the HLW tanks is made difficult by radiation, contamination, and small access openings. Through the years these challenges have been overcome by progressive improvements to programs and equipment resulting in the sophisticated wall crawler Ultrasonic Testing (UT) technology of today. A formal inspection program was developed and put in service in 1972. UT thickness measurements were first made in 1967 and 1969 of selected waste tanks using an analog-type instrument to measure the thickness of the carbon steel walls. Routine inspections for thinning were performed from 1972-1985 and then discontinued because no thinning had been observed and this technique could not detect pitting or cracking. UT inspections resumed in 1994 using a sophisticated robotic wall crawler with UT technology capable of detecting thinning, cracking and pitting. The current program focuses on the newer Type III tanks that are used primarily for storage. The program was upgraded in 2003 to include selected regions of the tank wall, secondary wall and annulus floor on a 7 to 10-year frequency. The facility is currently in its third cycle of tank inspections. Thus far, there have been no reportable indications of service induced degradation. This result provides assurance that the chemistry control program has been effective at mitigating corrosion and that the tanks remain structurally sound even after more than 40 years of service. This paper will present the UT technology first used at SRS and the evolution to the current systems and their capabilities. Additionally, plans for equipment upgrades that will improve the extent of inspection will be discussed. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗