Decommissioning Techniques
? Nuclear measurements ? Decontamination
去污剂
? Tools / Remote operation ? Simulations
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2009
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Evolving technologies
2009
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Evolving technologies
Developing improved technologies for dismantling and demolition Continued research encouraged on technologies should be
Formerly abandoned techniques should be re-examined and evaluated for applicability in a changing technological and economic environment
2009
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Techniques should be:
Evolving technologies
Safer, easier
Quicker Cost effective (maintenance, operation, waste production) Years of experience have yield methods and lessons learned to improve performance Appropriate technology for specific applications
2009 4
potential exposure of workers to radiation, dust emission and spread of contamination, fire hazards, noise,….
Research and development for decommissioning
3D Modelling and Simulation
. Methods and Technical Developments . Appraisal & help to dismantling Site
Radiological characterization
Shear
Laser
Teleoperation and cutting tools 1 Decontamination
2009
Testing platform
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Research and development for decommissioning Decontamination Liquid Decontamination
?New trends in Chemistry and reaction (co-précipitation, …
?New Trends in Chemical engineering for enahnced processes
Solid Decontamination
?Foam processes for complex volumes / shapes ?Gel processes for economical treatment The Near future… ?Electro decontamination for concrete decontamination:
2009
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Research and development for decommissioning
Numerous industrial’s needs for:
-Treatments of liquid effluents and solutions to decrease the chemical and radiological environmental impact
The mission: propose and develop specific processes
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- Dismantling and decommissioning of glove 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 …) - Industrial cleaning out of nuclear
Phenomenological and knowledge of the processes
&
Research
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2009
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I – liquid effluents decontamination
Nowadays context :
– Reduce as low as possible chemical and radiological impact coming objective ? zero or clean reject ? from industrial and nuclear installation – Abort ? bitumen wastes ? cementation
Consequences :
Improvement of processes efficiency : In actual effluent treatment plants For 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 8
II – decontamination of huge volume / complex form by foam processes
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
Vapor generator cleaning (submarine, aircarrier, nuclear plant)
Products : acid phosphoric foam acid oxalic foam surfactants … Processes : Foam making devices Foam introduction devices decontamination/cleaning monitoring ….
2009 9
Foam penetration into a bundle
Problematic:
III – Gels for nuclear decontamination
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
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3. Brushing and/or vacuum cleaning to recover dry pellets including contamination
Type of materials : - stainless steel - iron - Aluminium - lead
2009 10
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ISAI cells in CEA-Marcoule using ASPIGEL 100 (FEVDI)
www.fevdi.fr
Surface decontamination a real case:
Pulverization of a ASPIGEL 100 thin film (500 m)
Recovering of the dried pellets by brushing or vacuum cleaning
2009 11
IV – Concrete decontamination
Industrial context : nuclear power plants decommissioning and dismantling Problematic :
2 types of contamination
on the surface (~ mm) Specific gel formulation for concrete ? Deep ? contamination (~ cm) Improvement of an electrokinetic process with an electrolytic gel
Validation on real case :
Storage pool P1 et P2 (Cadarache) STEL 146 (COGEMA Marcoule) Handford (USA)
FRDD of α between 2,5 et 3,8
FRDD of β, γ between 2 et 2,8
Industrial partnership : (Bouygues TP)
2009
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Research and development for decommissioning
? Remote handling:
MAESTRO System Hot cell 414 at APM Integration on a Brokk 90 Test of global performance cutting High thickness laser cutting
2009
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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
Context
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Two mains configurations of facilities at CEA ? Reprocessing facilities: Building 18, APM, UP1,AVM…
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
Specifications: Great cells with high density of various components (thickness 3 to 15 mm), contaminations and middle level radiations
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System MAESTRO: dismantling projects under studies
APM
Rapsodie UP1…. AVM Pétrus – Batiment 18
Phénix
2009 15
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 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
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Evaluation of Predator in cold area
Trolley/cart Rail Cameras Tools rack Hoist/grab Telescopic shaft Arm Tools
2009
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Teleoperation with force feedback
Teleoperation : ? Maestro system? project
- 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 - Industrial product
- 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
2009 17
Maestro System
Teleoperation with force feedback
Supervisor screen Supervisor With master arm Virtuose
Camera and light on pan and tilt Hydraulic unit
Slave arm MAESTRO
Embedded controller
2009 18
MAESTRO System: performance
? Slave arm:
– – – – – capacity 60kg at 2m30 Electromechanical changer tool waterproof, MTBF 1000 hours Force sensitivity 10kg shoulders axes, 2kg wrist unidirectional accuracy 1mm
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Hydraulic power unit:
– – –
150 / 210 bars, 45 litters Fire resistant fluid HFDU Temperature regulation 55°C with 40°C in cell
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Hardened embedded controller
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Hardening radiation 10 kGray 40°C ambient, waterproof umbilical 60 m, Jupiter size V multiplexer: arm, hydraulic power unit,
2 axes with lights and video cameras
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Graphical controller: appraisal operator
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Graphical model Automatic or half-automatic programming Appraisal modes: gravity compensation, clamping DOF diagnostic
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Force feedback master arm 6DOF + effector:
– Virtuose 6D 40-40: force ratio to 1/15
CEA/DEN/DPA CEA/DEN/DTEC/SDTC/LTM
2009 2009
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MAESTRO: Already used in industrial applications
Off-shore robotics Post-accidental Intervention Dismantling of NPP
Maintenance of ITER Repair of NPP
2009
Dismantling of nuclear facilities
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