richard voyles purdue university · dr. richard voyles, collaborative robotics lab, purdue...
TRANSCRIPT
![Page 1: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/1.jpg)
Richard Voyles
Purdue University
![Page 2: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/2.jpg)
USAMRIID and Sellafield trips
![Page 3: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/3.jpg)
Sellafield, UK Visit – April 2015Windscale Pile
• 1950, aluminum clad uranium
• Spent Fuel Sludge
• Air-cooled
Calder Hall
• World’s first industrial-scale
• 1956
• Plutonium
Waste Re-Processing
![Page 4: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/4.jpg)
US Delegation
![Page 5: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/5.jpg)
UK Robotic Handling Cell and Simulation
![Page 6: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/6.jpg)
UK LaserSnake
![Page 7: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/7.jpg)
UK ROV Investigation of Spent Fuel Pools
![Page 8: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/8.jpg)
UK UAV SLAM Investigation
![Page 9: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/9.jpg)
DOE Technology Investment
![Page 10: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/10.jpg)
DOE Sites
WIPP, Carlsbad, NM
Savannah River, SC
Hanford, WA
![Page 11: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/11.jpg)
Recap of Incidents: Layout of the Underground
www.wipp.energy.gov
![Page 12: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/12.jpg)
Waste Isolation Pilot Plant – Feb, 2014 Fire
![Page 13: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/13.jpg)
Incidents at WIPP – Radiological Release
February 14 Radiological Release
• AIB Report, Phase I issued April 24, 2014• AIB Report, Phase II issued April 15, 2015
![Page 14: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/14.jpg)
Key Recovery Steps toward Resumption of Operations
Nuclear Safety Document RevisionsSafety Management Program RevitalizationUnderground Restoration- Re-Establish Degraded Equipment- Fire Protection- Maintenance and Ground Control - Radiological Roll-back- Soot cleaning of electrical panels
Expedite mine stabilityInitial Panel 6, Panel 7, Room 7 ClosureInterim Ventilation Supplemental Ventilation Modifications
![Page 15: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/15.jpg)
Waste Isolation Pilot Plant
![Page 16: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/16.jpg)
www.energy.gov/EM 16
Radiological Rollback
![Page 17: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/17.jpg)
WIPP ventilation system. (reprinted from www.wipp.energy.gov)
Mock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP SiteDr. Richard Voyles, Collaborative Robotics Lab, Purdue University
WIPP: Ventilation System
• Nearly all of the 200 mg of material has been recovered in the HEPA filters
• Possible trace amounts of americium left in the exhaust shaft
• The shaft is circular in cross section, 14 feet in diameter, and about 2150 feet long, with 60,000 cubic foot air per minute (CFM) flowing through it.
![Page 18: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/18.jpg)
Mock-up of the Exhaust Shaft Inspection by Dexterous Hexrotor at the DOE WIPP SiteDr. Richard Voyles, Collaborative Robotics Lab, Purdue University
Challenge
Challenges in the inspection and cleaning of the exhaust shaft:
• constrained environment• Very high aspect ration (660 m x 4 m)• Partially lined column
• Concrete lined above 900’, rough-hewn below• Water intrusion
• 1 – 10 GPM in unlined section• sensing of americium
• Low energy (~0.06 MeV)• Small quantities • Requires physical sampling vs. non-contact
UAV solution of using fully-actuated Dexterous Hexrotor :
• precision flight in close proximity to the structure walls • ability to maintain contact forces at swabbing sites
![Page 19: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/19.jpg)
Away Team:
Rob Ambrose
Wendell Chun
Bill Hamel
Blake Hannaford
Richard Voyles
Professor and Associate Dean for Research
Purdue Polytechnic Institute
Rod Rimando
Veronica Santos
Satoshi Tadokoro
Richard Voyles
Red Whittaker
![Page 20: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/20.jpg)
Site Selection for Secret Plutonium Plant – December 1942
• Initial Sites:
• Chicago
• Oak Ridge
• Secondary Sites:
• Montana
• Oregon
• California
• Washington
![Page 21: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/21.jpg)
Hanford Selected
• Letters issued citing 2nd War Powers Act
• March 1943
• Leave land
• 670 sq mi
• ~1% of WA
![Page 22: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/22.jpg)
![Page 23: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/23.jpg)
Camp Hanford, 1943-1946
![Page 24: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/24.jpg)
Uranium Fuel Fabrication (300 Area)
![Page 25: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/25.jpg)
2 of 9 Reactors Along Columbia (100 Area)
![Page 26: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/26.jpg)
Hanford Plutonium Production 1945-1987
![Page 27: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/27.jpg)
Great Variety of Nuclear Materials
200,000 m3
195 M Curies
110 M Curies
~ 350 M Curies TOTAL
![Page 28: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/28.jpg)
Tank Farms – Hanford’s Biggest Challenge
![Page 29: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/29.jpg)
Tank Farms – Geographic Spread
![Page 30: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/30.jpg)
![Page 31: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/31.jpg)
Tank Wastes
![Page 32: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/32.jpg)
Tank C-102
![Page 33: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/33.jpg)
Tank AY-102 Construction (DWT)
![Page 34: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/34.jpg)
AY-102 Leakage
![Page 35: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/35.jpg)
Single-Wall A Farm
![Page 36: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/36.jpg)
Storage Tank Farms
![Page 37: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/37.jpg)
From Tanks to Storage
![Page 38: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/38.jpg)
Waste Treatment Plant (WTP)
![Page 39: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/39.jpg)
Pre-Treatment Facility(separate solids and liquids)
![Page 40: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/40.jpg)
Waste Encapsulation Storage Facility
![Page 41: Richard Voyles Purdue University · Dr. Richard Voyles, Collaborative Robotics Lab, Purdue University WIPP: Ventilation System • Nearly all of the 200 mg of material has been recovered](https://reader036.vdocuments.site/reader036/viewer/2022071009/5fc77e514d4c193b6b34b89f/html5/thumbnails/41.jpg)
Sellafield Trip