Rod Rimando - Opportunities for advanced robotics in nuclear cleanup

www.energy.gov/EM 1

U.S. Manhattan Project Legacy:Opportunities for Advanced Robotics in

Nuclear Cleanup

National Robotics InitiativePrincipal Investigators Meeting

November 5, 2015

www.energy.gov/EM 2

Rapid Fire OverviewEM’s Nuclear Cleanup Mission

www.energy.gov/EM 3

EM “Lineage”

1946

Atomic Energy Commission

Atomic Energy Act of 1946.Now under civilian control.

1977Department of

EnergyFormerly ERDA

1989EnvironmentalManagement

Nuclear weapons legacy

Nuclear Regulatory Commission

Regulate civilian uses of nuclear materials

Energy Research and Development

AdministrationNuclear weapons program

1974Energy Reorganization Act of 1974

1945Trinity Test Shot

First detonation of a nuclear weapon. ≈ 20 kilotons of TNT.

1938Nuclear Fission

First observed by German Physicist Otto Hahn and his assistant Fritz Strassmann

Manhattan ProjectManhattan District of the

US Army Corp of Engineers

1942

Atoms for PeaceAtomic Energy Act of 1954.

Allowed for a civilian (peaceful, non-defense)

nuclear industry.

1954

www.energy.gov/EM 4

Legacy Scope: Manhattan Project

Codename: Development of Substitute Materials

www.energy.gov/EM 5

Legacy Scope: Cold War Expansion

Nationwide Industrial Complex for theCold War Nuclear Arms Race

www.energy.gov/EM 6

Legacy Scope: Early Nuclear S&T

Early Years of Government-SponsoredNuclear Science and Technology

www.energy.gov/EM 7

Nuclear Weapons Production

www.energy.gov/EM 8

Uranium Mining and Milling

Monument Valley, AZ, Processing SiteTuba City, AZ, Disposal Site

Durango, CO, Disposal SiteDurango, CO, Processing SiteGrand Junction, CO, Disposal SiteGrand Junction, CO, Processing SiteGunnison, CO, Disposal SiteGunnison, CO, Processing SiteMaybell, CO, Disposal SiteNaturita, CO, Disposal SiteNaturita, CO, Processing SiteSlick Rock, CO, Disposal SiteSlick Rock, CO, Processing SitesRifle, CO, Disposal SiteRifle, CO, New Processing SiteRifle, CO, Old Processing Site

Lowman, ID, Disposal Site

Ambrosia Lake, NM, Disposal SiteShiprock, NM, Disposal Site

Lakeview, OR, Disposal SiteLakeview, OR, Processing Site

Burrell, PA, Disposal SiteCanonsburg, PA, Disposal Site

Falls City, TX, Disposal Site

Green River, UT, Disposal SiteMexican Hat, UT, Disposal SiteSalt Lake City, UT, Disposal SiteSalt Lake City, UT, Processing Site

Riverton, WY, Processing SiteSpook, WY, Disposal Site

www.energy.gov/EM 9

Uranium Refining

Fernald Feed MaterialsProduction Center

Weldon Spring Uranium FeedMill Plant

www.energy.gov/EM 10

Uranium Enrichment

Portsmouth Gaseous Diffusion Plant

Paducah Gaseous Diffusion Plant

K-25 Building of the Oak Ridge Gaseous Diffusion Plant


Uranium Foundry

Fernald Feed MaterialsProduction Center

Weldon Spring Uranium FeedMill Plant


Fuel and Target Fabrication


Plutonium Production Reactors

Hanford B Reactor

Hanford C ReactorInterim Safe Storage

SRS P Reactor

SRS R ReactorIn Situ Decommissioning

9Reactors

5Reactors


Reprocessing to Extract Plutonium

HanfordT Plant

HanfordPUREX Plant

SRS H Canyon

SRSF Canyon

6Radiochemical

Processing Plants

2Radiochemical

Processing Plants


Fabricating Nuclear Components

Oak RidgeReservation

Rocky Flats Plant

Hanford Site


Conducting Weapons Research and Design

Separations Process Research Unit

Knolls Atomic Power Laboratory

Lawrence Livermore National Laboratory

Los Alamos National Laboratory

Sandia National Laboratories


Fabricating Non-Nuclear Components

Mound Plant

Kansas City PlantBannister Federal complex

Pinellas PlantPantex Plant


Nuclear Device Testing

1,054 detonations/tests of thermo-nuclear devices 838 underground 216 atmospheric,

underwater and space 1945 to 1992


Assembling the Nuclear Warheads

Pantex Plant

Burlington Assembly PlantIowa Army Ammunition

Plant Production Lines


Former Manhattan Project Sites

Berkeley, CA, SiteBurris Park, CA, Site

Seymour, CT, Site

Chicago North, IL, SiteChicago South, IL, SiteGranite City, IL, SiteMadison, IL, Site

Beverly, MA, SiteIndian Orchard, MA, Site

Adrian, MI, Site

Jersey City, NJ, SiteNew Brunswick, NJ, SiteWayne, NJ, Site

Acid/Pueblo Canyon, NM, SiteBayo Canyon, NM, SiteChupadera Mesa, NM, Site

Buffalo, NY, SiteNew York, NY, SiteNiagara Falls Vicinity Properties,

NY, SiteTonawanda North Sites, NY, Unit

1 and Unit 2

Columbus East, OH, SiteFairfield, OH, SiteHamilton, OH, SiteOxford, OH, SiteToledo, OH, Site

Albany, OR, Site

Aliquippa, PA, SiteSpringdale, PA, Site

Oak Ridge, TN, Warehouses Site

Formerly Utilized Sites Remedial Action Program


The Veil of Secrecy


Original Scope of EM’s Mission


Remaining Scope of EM’s Mission

Since 1989, EM has completed its cleanup mission at 91 of the 107 major nuclear weapons and nuclear research sites $152 billion spent

Current Lifecycle Baseline Estimate of Remaining Mission $235 billion 2065 completion


Current Budgets

FY 2015 Enacted: $5,861M

$2,030M35%

$1,110M19%

$890M15%

$910M15%

$520M9%

$400M7%

Tank Waste D&D Solid Rad WasteSNM & SNF Soil & Water Mission Support

$2,297M40%

$835M14%

$779M13%

$967M17%

$527M9%

$413M7%

FY 2016 Request: $5,818M


Rapid Fire Interests in RoboticsEM’s Nuclear Cleanup Mission


Interests: Remote AccessMotion, Mobility and Maneuverability

Systems that provide remote entry into areas and spaces that are otherwise inaccessible or prohibit direct access by workers due to Unsafe, unstable, or unknown physical or structural conditions Configurations that are hard to reach or beyond reach without taking

extraordinary mechanical measures The presence or potential presence of radiological, chemical, biological, or

physical hazards that will or may result in unacceptable occupational exposure or increased health or safety risk

Other conditions that preclude safe entry or are otherwise uninhabitable such as areas or spaces that have or potentially have Oxygen-deprived environments or other conditions of poor air quality; Explosive gases, materials or devices Extreme temperatures Extreme pressures Poor or no visibility or no direct line of sight Submerged or substantially liquid-covered surfaces


Interests: Data, Data, DataMonitoring, Measuring and Mapping

Non-Destructive Evaluation/Examination and In Situ Characterization

Acoustic, optical, radiographic, thermographic, electromagnetic, climatic, and other tooling and methods for non-destructive sensing, detecting, monitoring, measuring, characterizing, and assaying a wide variety of radiological, chemical, environmental, and physical parameters

Surveillance and Monitoring

Photography, videography

Change detection

Imaging, Surveying, Mapping, and 3D Rendering

Graphical depictions and representations

Computer-generated replications, simulations and models


Interests: Doing WorkManipulation and Man-Power

Manipulation and End-Effectors

Systems for remotely performing tasks in harsh environments or work conditions to keep occupational exposure to hazards as low as reasonably achievable (ALARA)

Heavy Operations

Systems for performing tasks that are beyond worker capability and require substantially greater strength, dexterity, reach and access, or capacity

Task Automation

Systems for more efficiently performing routine or repetitive tasks and operations such that worker interface is needed only for performance monitoring and quality control


Interests:Man-hancements

Wearable and prosthetic-like robotic devices (a.k.a., co-robots) that

Improve worker health and safety or

Enhance worker performance and endurance, or compensate for physical limitations of extremities by relieving physical stresses on the body and avoiding occupational injuries such as those caused by

Repetitive and forceful exertions and motions

Frequent, heavy, or overhead lifts or tasks

Ergonomically incorrect work positions

Use of vibrating (shock-inducing) equipment

Muscle fatigue


Interest: CBRNE

Handling of high-hazard, high-consequence materials and waste Chemical Biological Radiological Nuclear Explosives


Interest: 3D Tasks

Performing worker/operator tasks that are

Dirty (contaminated, toxic, nuisance)

Dull (routine, labor-intensive, repetitive, mundane)

Dangerous (pose significant occupational hazards)


Interests: Worker Safety → ALARA


Interests: Worker Performance

Easing the performance of worker/operator tasks that are

Physically demanding on or stressful to human body or

Otherwise ergonomically challenging

Performing tasks that are beyond human abilities


Interests: 911

Remote access for emergency response, initial re-entry, trouble-shooting, and recovery, particularly when conditions are unknown.


Interests: Operations

Improving the safety, quality, efficiency, and productivity of facility operations

Process Intensification


Rapid Fire Operating DomainsEM’s Nuclear Cleanup Mission


Operating Domain: Glovebox and Hot Cell

Typical hazards Radiation Chemicals Sharps and heavies

Degraded Worker Performance Lack of flexibility and dexterity Challenged visibility Over-work and over-stress injuries Repetitive motion injuries


Operating Domain: Facilities

Facility operations and maintenance



Decontamination, demolition and dismantlement operations



Facility operations and maintenance


Remote access is needed for initial entry into the tunnels for surveying and characterization

Tunnel #2

Operating Domain: Underground


Operating Domain: Underground

Typical Access Drifts:40 ft. wide and 14 ft. high

Typical Panel Dimensions:400 ft. wide and 1,115 ft. long

Typical Placement Configurations for

Contact-Handled TRU Waste Containers

Typical Room Dimensions:33 ft. wide, 300 ft. long, 14 ft. high


Operating Domain: “Underground”

Surveying, characterization and inspection in underground storage tanks


Operating Domain: “Underground”

Investigation and trouble-shooting in underground storage tanks


Operating Domain: Underwater

Underwater inspections, surveying and characterization of storage pools and basins


Operating Domain: Aerial

Remote access for aerial inspections, surveillances and mapping


Rapid Fire Closing

EM mission success over last 25 years

Significant cleanup challenges ahead

50 years, $235 billion (likely to be longer, more costly)

Technology → smarter and safer mission execution

Robotics is a key mission enabler → rad-hardened, rad-tolerant

EM mission and problem-set cross-cut many robotics applications

Commercial nuclear industry (power, medicine, consumer products)

Nuclear-capable countries

Collaborate with the broader robotics community

Leverage federal expertise and assets

Collaborate with universities and colleges

Attract future workforce generations

Let’s not wait until a nuclear disaster


1000 Independence Ave SWWashington, DC 20585

Rodrigo (Rod) V. Rimando, [email protected]

+1 (240) 676-6470 (mobile)

Rod Rimando - Opportunities for advanced robotics in nuclear cleanup

Education

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