Abstract: An automatically guided vehicle system for steering a vehicle. Optical sensing detects an image of a segment of track mounted above the path of the vehicle. Electrical signals corresponding to the position of the track are generated. A control circuit then converts these signals into movements for the steering of the vehicle.

Abstract: A fuel assembly for nuclear reactors which comprises the usual upper and lower tie plates and fuel rods extending between them is made debris-resistant by providing a grid spacer in contact, or very nearly so, with the lower tie plate and so positioned as to subdivide the usual openings in the lower tie plate which are provided for the passage of cooling water. This causes debris to be trapped in the openings of the lower tie plate, and keeps it from contacting the fueled portion of the assembly.

Abstract: An exposure chamber includes an imperforate casing having a fluid inlet at the top and an outlet at the bottom. A single vertical series of imperforate trays is provided. Each tray is spaced on all sides from the chamber walls. Baffles adjacent some of the trays restrict and direct the flow to give partial flow back and forth across the chambers and downward flow past the lowermost pan adjacent a central plane of the chamber.

Abstract: A method for converting sodium nitrate-containing, caustic, radioactive wastes to a solid, relatively insoluble, thermally stable form is provided and comprises the steps of reacting powdered aluminum silicate clay, e.g., kaolin, bentonite, dickite, halloysite, pyrophyllite, etc., with the sodium nitrate-containing radioactive wastes which have a caustic concentration of about 3 to 7 M at a temperature of 30.degree. C to 100.degree. C to thereby entrap the dissolved radioactive salts in the aluminosilicate matrix.In one embodiment the sodium nitrate-containing, caustic, radioactive liquid waste, such as neutralized Purex-type waste, or salts or oxide produced by evaporation or calcination of these liquid wastes (e.g., anhydrous salt cake) is converted at a temperature within the range of 30.degree. C to 100.degree. C to the solid mineral form-cancrinite having an approximate chemical formula 2(NaAlSiO.sub.4) .sup.. xSalt.sup.. y H.sub.2 O with x = 0.52 and y = 0.68 when the entrapped salt is NaNO.sub.3.