2009 1

Decommissioning Techniques

Nuclear measurements

Decontamination

Tools / Remote operation

Simulations

2009 2

Evolving technologies

2009 3

Developing improved technologies for dismantling and demolition

Continued research on technologies should be encouraged

Formerly abandoned techniques should be re-examined and evaluated for applicability in a changing technological and economic environment

Evolving technologies

2009 4

Evolving technologiesTechniques should be:Safer, easierpotential exposure of workers to radiation,dust emission and spread of contamination,fire hazards,noise,.

QuickerCost effective (maintenance, operation, waste production)

Years of experience have yield methods and lessonslearned to improve performance

Appropriate technology for specific applications

2009 5

Teleoperation and cutting tools

Radiological characterization

Testing platform

3D Modelling and Simulation. Methods and Technical Developments. Appraisal & help to dismantling Site

Shear

Laser

Research and development for decommissioning

1 Decontamination

2009 6

Liquid DecontaminationNew trends in Chemistry and reaction (co-prcipitation, New Trends in Chemical engineering for enahnced processes

Solid DecontaminationFoam processes for complex volumes / shapesGel processes for economical treatmentElectro decontamination for concrete decontamination:

The Near future

Research and development for decommissioningDecontamination

2009 7

Research and development for decommissioning

- Industrial cleaning out of nuclear

The mission: The mission: proposeproposeand and developdevelop specific specific

processesprocessesNumerous industrials needs for:

-Treatments of liquid effluents and solutions to decrease the chemical and radiological environmental impact- Dismantling and decommissioning ofglove boxes and blinded cells (AREVA NC, CEA)- huge volumes and complex forms: storage tanks for fission products (CEA -AREVA NC), vapour generators (EDF -PN)- Concretes in nuclear power plants or nuclear installations (EDF, BOUYGUES TP)- Bacteriological decontamination meanings (NRBC )

Phenomenological Phenomenological and and knowledge knowledge of the of the

processesprocesses

ResearchResearchRR

DD

&&

2009 8

I liquid effluents decontamination

Nowadays context : Reduce as low as possible chemical and radiological impact coming from industrial and nuclear installation objective zero or clean reject

Abort bitumen wastes cementation Consequences :Improvement of processes efficiency :

In actual effluent treatment plantsFor the future installations: STE 2015 (AREVA), STE 2013 (Marcoule)For specific effluent coming from La Hague pool storage or decontamination workshop

Integrated view for the processes Actions : Assessment and analysis of actual chemical treatment.

enhancement ways proposal by simple chemical adjustment R&D on the innovative processes for effluent treatment :

Microfiltration Mineral exchange Coprecipitation

2009 9

ProductsProducts : acid phosphoric foamacid oxalic foamsurfactants

ProcessesProcesses : Foam making devicesFoam introduction devicesdecontamination/cleaning monitoring.

II decontamination of huge volume / complex formby foam processes

Vapor generator cleaning (submarine, aircarrier, nuclear plant)To formulate cleaver complex fluids (foams) that do not damage the surface of the materials (soft homogeneous corrosion or dissolution) and transfer rapidly the radiocontaminants into the complex fluid phase

Foam penetration into a bundle

2009 10

III Gels for nuclear decontaminationProblematic: Extract the surfacic contamination: ground, walls, ceiling

with:- reducing the exposition time for the operators- to avoid liquid effluents- producing a minimum amount of waste (mineral form), - waste compatible with standard treatment processes

1. Gel application onto the surface : by painting, by spraying

2. Drying and pellets formation

3. Brushing and/or vacuum cleaning to recover dry pellets including contamination

1

2

3 Type of materials : - stainless steel- iron- Aluminium- lead

2009 11

Surface decontamination a real case:ISAI cells in CEA-Marcoule using ASPIGEL 100 (FEVDI)

www.fevdi.fr

Pulverization of a ASPIGEL 100 thin film (500 m)

Recovering of the dried pellets by brushing or vacuum cleaning

2009 12

IV Concrete decontaminationIndustrial context : nuclear power plants decommissioning and dismantling

Problematic : 2 types of contamination

on the surface (~ mm) Deep contamination (~ cm)

Specific gel formulation for concrete

Improvement of an electrokineticprocess with an electrolytic gel

Storage pool P1 et P2 (Cadarache)STEL 146 (COGEMA Marcoule)Handford (USA)

FRDD of , between 2 et 2,8 FRDD of between 2,5 et 3,8

Validation on real case :Industrial partnership :

(Bouygues TP)

2009 13

Remote handling: MAESTRO System

Hot cell 414 at APM Integration on a Brokk 90 Test of global performance cutting

High thickness laser cutting

Research and development for decommissioning

2009 14

Context The need of CEA dismantling operations for the next

twenty years:

Insure the civil and defence clean up program (planning and financial: final cost operation)

Need industrial system with: Increased reliability Increased productivity Improved from nuclear safety

Two mains configurations of facilities at CEA Reprocessing facilities: Building 18, APM, UP1,AVM

Specifications: Great cells with high density of various components (thickness 3 to 15 mm), contaminations and middle level radiations

Fast reactor: Rapsodie, Phenix: main operations under water

Specifications: huge, heavy components with high or multiple thickness up to 100 mm, in air or under water and high level radiations

2009 15

Rapsodie

UP1. AVM

APM

Phnix

System MAESTRO: dismantling projects under studies

Ptrus Btiment 18

2009 16

Feedback experience in remote handling Uranium storage with SAMM Arm

Hydraulic arm with position controller and joysticks ( articular mode) Disposal < 60% Productivity depend on the human factor Dexterity limited in complex cell

Evaluation of Predator in cold area Master / slave system Force feedback for safety (ratio of 1/100, not enough for drive process) Low dexterity Open structure with linear and rotary actuators

Trolley/cartRailCamerasTools rackHoist/grabTelescopic shaftArmTools

2009 17

Teleoperation : Maestro system project- Industrial product- Good reliability and easy maintenance (modularity)- High capacity (around 60 daN at 2.5 m)- Dexterity (6 degrees of freedom, concurrent wrist)- no continued wrist rotation- Master Slave system with force feedback- Can be easily decontaminated and is hardened from radiation 10 kGy- Tool changer with electrical pins (no external wire)- Simple electrical wire

Different tools has been tested in conditions Alternative saw Plasma torch Nibbler (up to 9 mm thin, 1m/min) Shears (up Diam 55mm, 4mm thin) Rotary disk (abrasive and diamond)

Laser previously in test

Teleoperation with force feedback

2009 18

SupervisorWith master arm VirtuoseSupervisorscreen

Camera and light on pan and tilt

Embedded controller

Slave arm MAESTRO

Hydraulicunit

Maestro SystemTeleoperation with force feedback

2009 19CEA/DEN/DPA 2009CEA/DEN/DTEC/SDTC/LTM

Slave arm: capacity 60kg at 2m30 Electromechanical changer tool waterproof, MTBF 1000 hours Force sensitivity 10kg shoulders axes, 2kg wrist unidirectional accuracy 1mm

Hydraulic power unit: 150 / 210 bars, 45 litters Fire resistant fluid HFDU Temperature regulation 55C with 40C in cell

Hardened embedded controller Hardening radiation 10 kGray 40C ambient, waterproof umbilical 60 m, Jupiter size V multiplexer: arm, hydraulic power unit,

2 axes with lights and video cameras Graphical controller: appraisal operator

Graphical model Automatic or half-automatic programming Appraisal modes: gravity compensation, clamping DOF diagnostic

Force feedback master arm 6DOF + effector: Virtuose 6D 40-40: force ratio to 1/15

MAESTRO System: performance

2009 20

MAESTRO: Already used in industrial applications

Dismantling of NPP

Maintenance of ITER

Post-accidental Intervention

Repair of NPP

Off-shore robotics

Dismantling of nuclear facilities

2009 21

Teleoperation : Maestro system project The test field in cell 414 of APM began, The complete system for dismantling operations will be received in 2010

Size of the cell : 20m long x 5m large x 6m highWith chemical process

Dismantling system New carrier with 3 axes and a crane for waste removal embedded controller and hydraulic unit Maestro System Rack for 5 Tools Reduce electrical umbilical with water for cooling (low pressure)

APM 414 Cell

Teleoperation with force feedback

2009 22

Program of Testing platform in 2008 - 2009 Test of productivity in dismantling operations

Define the ratio of kg/day of dismantling operations (waste in drums) Comparison with other system (without force feedback)

Feed back experience of SAMM arm at UP1 (15 kg/day)

Test of pr