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Rod Rimando - Opportunities for advanced robotics in nuclear cleanup
- 1. www.energy.gov/EM 1 U.S. ManhattanProject Legacy: Opportunities for Advanced Robotics in Nuclear Cleanup National Robotics Initiative Principal Investigators Meeting November 5, 2015
- 2. www.energy.gov/EM 2 Rapid FireOverview EM’s Nuclear Cleanup Mission
- 3. www.energy.gov/EM 3 EM “Lineage” 19 46 AtomicEnergy Commission Atomic Energy Act of 1946. Now under civilian control. 1977 Department of Energy Formerly ERDA 1989 Environmental Management Nuclear weapons legacy Nuclear Regulatory Commission Regulate civilian uses of nuclear materials Energy Research and Development Administration Nuclear weapons program 1974 Energy Reorganization Act of 1974 1945 Trinity Test Shot First detonation of a nuclear weapon. ≈ 20 kilotons of TNT. 1938 Nuclear Fission First observed by German Physicist Otto Hahn and his assistant Fritz Strassmann Manhattan Project Manhattan District of the US Army Corp of Engineers 19 42 Atoms for Peace Atomic Energy Act of 1954. Allowed for a civilian (peaceful, non-defense) nuclear industry. 19 54
- 4. www.energy.gov/EM 4 Legacy Scope:Manhattan Project Codename: Development of Substitute Materials
- 5. www.energy.gov/EM 5 Legacy Scope:Cold War Expansion Nationwide Industrial Complex for the Cold War Nuclear Arms Race
- 6. www.energy.gov/EM 6 Legacy Scope:Early Nuclear S&T Early Years of Government-Sponsored Nuclear Science and Technology
- 7. www.energy.gov/EM 7 Nuclear WeaponsProduction
- 8. www.energy.gov/EM 8 Uranium Miningand Milling Monument Valley, AZ, Processing Site Tuba City, AZ, Disposal Site Durango, CO, Disposal Site Durango, CO, Processing Site Grand Junction, CO, Disposal Site Grand Junction, CO, Processing Site Gunnison, CO, Disposal Site Gunnison, CO, Processing Site Maybell, CO, Disposal Site Naturita, CO, Disposal Site Naturita, CO, Processing Site Slick Rock, CO, Disposal Site Slick Rock, CO, Processing Sites Rifle, CO, Disposal Site Rifle, CO, New Processing Site Rifle, CO, Old Processing Site Lowman, ID, Disposal Site Ambrosia Lake, NM, Disposal Site Shiprock, NM, Disposal Site Lakeview, OR, Disposal Site Lakeview, OR, Processing Site Burrell, PA, Disposal Site Canonsburg, PA, Disposal Site Falls City, TX, Disposal Site Green River, UT, Disposal Site Mexican Hat, UT, Disposal Site Salt Lake City, UT, Disposal Site Salt Lake City, UT, Processing Site Riverton, WY, Processing Site Spook, WY, Disposal Site
- 9. www.energy.gov/EM 9 Uranium Refining FernaldFeed Materials Production Center Weldon Spring Uranium Feed Mill Plant
- 10. www.energy.gov/EM 10 Uranium Enrichment Portsmouth Gaseous Diffusion Plant Paducah Gaseous Diffusion Plant K-25 Buildingof the Oak Ridge Gaseous Diffusion Plant
- 11. www.energy.gov/EM 11 Uranium Foundry FernaldFeed Materials Production Center Weldon Spring Uranium Feed Mill Plant
- 12. www.energy.gov/EM 12 Fuel andTarget Fabrication
- 13. www.energy.gov/EM 13 Plutonium ProductionReactors Hanford B Reactor Hanford C Reactor Interim Safe Storage SRS P Reactor SRS R Reactor In Situ Decommissioning 9 Reactors 5 Reactors
- 14. www.energy.gov/EM 14 Reprocessing toExtract Plutonium Hanford T Plant Hanford PUREX Plant SRS H Canyon SRS F Canyon 6 Radiochemical Processing Plants 2 Radiochemical Processing Plants
- 15. www.energy.gov/EM 15 Fabricating NuclearComponents Oak Ridge Reservation Rocky Flats Plant Hanford Site
- 16. www.energy.gov/EM 16 Conducting WeaponsResearch and Design Separations Process Research Unit Knolls Atomic Power Laboratory Lawrence Livermore National Laboratory Los Alamos National Laboratory Sandia National Laboratories
- 17. www.energy.gov/EM 17 Fabricating Non-NuclearComponents Mound Plant Kansas City Plant Bannister Federal complex Pinellas Plant Pantex Plant
- 18. www.energy.gov/EM 18 Nuclear DeviceTesting 1,054 detonations/tests of thermo-nuclear devices 838 underground 216 atmospheric, underwater and space 1945 to 1992
- 19. www.energy.gov/EM 19 Assembling theNuclear Warheads Pantex Plant Burlington Assembly Plant Iowa Army Ammunition Plant Production Lines
- 20. www.energy.gov/EM 20 Former ManhattanProject Sites Berkeley, CA, Site Burris Park, CA, Site Seymour, CT, Site Chicago North, IL, Site Chicago South, IL, Site Granite City, IL, Site Madison, IL, Site Beverly, MA, Site Indian Orchard, MA, Site Adrian, MI, Site Jersey City, NJ, Site New Brunswick, NJ, Site Wayne, NJ, Site Acid/Pueblo Canyon, NM, Site Bayo Canyon, NM, Site Chupadera Mesa, NM, Site Buffalo, NY, Site New York, NY, Site Niagara Falls Vicinity Properties, NY, Site Tonawanda North Sites, NY, Unit 1 and Unit 2 Columbus East, OH, Site Fairfield, OH, Site Hamilton, OH, Site Oxford, OH, Site Toledo, OH, Site Albany, OR, Site Aliquippa, PA, Site Springdale, PA, Site Oak Ridge, TN, Warehouses Site Formerly Utilized Sites Remedial Action Program
- 21. www.energy.gov/EM 21 The Veilof Secrecy
- 22. www.energy.gov/EM 22 Original Scopeof EM’s Mission
- 23. www.energy.gov/EM 23 Remaining Scopeof 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
- 24. www.energy.gov/EM 24 Current Budgets FY2015 Enacted: $5,861M $2,030M 35% $1,110M 19% $890M 15% $910M 15% $520M 9% $400M 7% Tank Waste D&D Solid Rad Waste SNM & SNF Soil & Water Mission Support $2,297M 40% $835M 14% $779M 13% $967M 17% $527M 9% $413M 7% FY 2016 Request: $5,818M
- 25. www.energy.gov/EM 25 Rapid FireInterests in Robotics EM’s Nuclear Cleanup Mission
- 26. www.energy.gov/EM 26 Interests: RemoteAccess Motion, 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
- 27. www.energy.gov/EM 27 Interests: Data,Data, Data Monitoring, 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
- 28. www.energy.gov/EM 28 Interests: DoingWork Manipulation 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
- 29. www.energy.gov/EM 29 Interests: Man-hancements Wearableand 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
- 30. www.energy.gov/EM 30 Interest: CBRNE Handling of high-hazard, high-consequence materials and waste Chemical Biological Radiological Nuclear Explosives
- 31. www.energy.gov/EM 31 Interest: 3DTasks Performing worker/operator tasks that are Dirty (contaminated, toxic, nuisance) Dull (routine, labor-intensive, repetitive, mundane) Dangerous (pose significant occupational hazards)
- 32. www.energy.gov/EM 32 Interests: WorkerSafety → ALARA
- 33. www.energy.gov/EM 33 Interests: WorkerPerformance 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
- 34. www.energy.gov/EM 34 Interests: 911 Remote access for emergency response, initial re-entry, trouble-shooting, and recovery, particularly when conditions are unknown.
- 35. www.energy.gov/EM 35 Interests: Operations Improving the safety, quality, efficiency, and productivity of facility operations Process Intensification
- 36. www.energy.gov/EM 36 Rapid FireOperating Domains EM’s Nuclear Cleanup Mission
- 37. www.energy.gov/EM 37 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
- 38. www.energy.gov/EM 38 Operating Domain:Glovebox and Hot Cell
- 39. www.energy.gov/EM 39 Operating Domain:Glovebox and Hot Cell
- 40. www.energy.gov/EM 40 Operating Domain:Facilities Facility operations and maintenance
- 41. www.energy.gov/EM 41 Operating Domain:Facilities Decontamination, demolition and dismantlement operations
- 42. www.energy.gov/EM 42 Operating Domain:Facilities Facility operations and maintenance
- 43. www.energy.gov/EM 43 Remote access isneeded for initial entry into the tunnels for surveying and characterization Tunnel #2 Operating Domain: Underground
- 44. www.energy.gov/EM 44 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
- 45. www.energy.gov/EM 45 Operating Domain:“Underground” Surveying, characterization and inspection in underground storage tanks
- 46. www.energy.gov/EM 46 Operating Domain:“Underground” Investigation and trouble-shooting in underground storage tanks
- 47. www.energy.gov/EM 47 Operating Domain:Underwater Underwater inspections, surveying and characterization of storage pools and basins
- 48. www.energy.gov/EM 48 Operating Domain:Aerial Remote access for aerial inspections, surveillances and mapping
- 49. www.energy.gov/EM 49 Rapid FireClosing 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
- 50. www.energy.gov/EM 50 1000 IndependenceAve SW Washington, DC 20585 Rodrigo (Rod) V. Rimando, Jr. rodrigo.rimando@em.doe.gov +1 (240) 676-6470 (mobile)