/Robotic Measurement of Holdup Deposit Volume in Gaseous Diffusion Piping to Quantify U-235 Content

Robotic Measurement of Holdup Deposit Volume in Gaseous Diffusion Piping to Quantify U-235 Content

Lawrence Papincak, Heather Jones, Matthew Hanczor, Warren Whittaker, James Teza, David Kohanbash, Siri Maley, Daniel Arnett, Andrew Tallaksen, Alexander Duncan, Ignacio Cordova Lanta Hanczdilla, Ryan O'Keefe, Jordan Ford and William Whittaker
Conference Paper, Waste Management, March, 2018

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During D&D of old gaseous diffusion uranium enrichment facilities, radiometric assay of U-235 holdup in pipes is a costly, time consuming, and labor-intensive process. Subject to human interpretation using approximate modeling, radiometric assay introduces significant challenges. Taking advantage of routine demolition activities in which D&D cuts pipes open, robotic in-pipe assay is explored. The novel method introduced here generates models of the internal pipe and deposit surface geometries that are used to derive volumetric quantities. The pipe surface is sensed using a non-contact inductive proximity sensor and the deposit surface is sensed using an optical laser triangulation sensor. These sensors are mounted on a spinning disk and driven down the pipe to construct a helical point cloud of discrete measurements. Surfaces are fit to each of the two point clouds to create a watertight volume that represents the holdup. This provides the location and volume per foot of pipe that is used to compare against criticality incredible (CI) thresholds during evaluation. The robotic system collects data autonomously, deploying and returning to the same pipe opening from which it is launched. This provides redundant measurements of the pipe and deposit surfaces as well as odometry used in localization.

BibTeX Reference
author = {Lawrence Papincak and Heather Jones and Matthew Hanczor and Warren Whittaker and James Teza and David Kohanbash and Siri Maley and Daniel Arnett and Andrew Tallaksen and Alexander Duncan and Ignacio Cordova Lanta Hanczdilla and Ryan O'Keefe and Jordan Ford and William Whittaker},
title = {Robotic Measurement of Holdup Deposit Volume in Gaseous Diffusion Piping to Quantify U-235 Content},
booktitle = {Waste Management},
year = {2018},
month = {March},
keywords = {Radiation, Uranium, U235, PipeDream, PCAMS, NDA},