Abstract: A mobile processing system is disclosed for the removal of radioactive contaminants from nuclear process waste water. The system is fully scalable, modular, and portable allowing the system to be fully customizable according the site-specific remediation requirements. It is designed to be both transported and operated from standard sized intermodal containers or custom designed enclosures for increased mobility between sites and on-site, further increasing the speed and ease with which the system may be deployed. Additionally, the system is completely modular wherein the various different modules perform different forms or stages of waste water remediation and may be connected in parallel and/or in series. Depending on the needs of the particular site, one or more different processes may be used. In some embodiments, one or more of the same modules may be used in the same operation.

Abstract: Disclosed herein are systems and methods for a robotic system capable of carrying out operations in a hazardous or confined space. The system comprises a manipulator arm, a plinth, a trolley, an end effector, and a control system. The plinth and trolley each comprise one or more locking pawls for securing the system to mounting points. The system is capable of maneuvering between mounting points in an inch-worm-like fashion. Motion starts from a fixed position where both the trolley and plinth locking pawls are secured to a first mounting point. The trolley locking pawls are then released and the trolley runs along the manipulator and secures locking pawls to a second mounting point. The plinth locking pawls are then released and the plinth is drawn to the second mounting point where it is secured via locking pawls. When both the plinth and trolley are secured, operations can be carried out.

Abstract: A system and method for tritium separation systems using a mixed bed catalytic exchange process in a Liquid Phase Catalytic Exchange/Closed Loop Continuous Process (LPCE/CLCP) system, that operates as a low temperature and low pressure continuous balanced process, designed to rapidly, economically and safely extract and isolate isotope specific products without generating unwanted products in the form of new waste streams.

Abstract: Processes, systems, and methods for selectively regenerating an ion exchange resin generally comprises washing the ion exchange resin with an elution agent that encourages only selected contaminants, and especially selected radioactive isotopes, to disengage or decouple from the resin and enter solution in the elution agent, which thereafter is identified as the elution agent solution. The elution agent solution is then passed through a column of isotope-specific media (ISM). When the selected radioactive isotopes within the elution agent solution come into contact with the constituent media isotopes of the ISM, the selected radioactive isotopes are retained on the reactive surface areas of the ISM or within the interstitial spaces of the porous structures of the constituent media isotopes of the ISM. In some embodiments, the constituent media isotopes of the ISM are embedded, impregnated, or coated with the specific radioactive isotope that the particular ISM are adapted to separate.

Abstract: A sealing system for isolating the environment inside a vitrification container from the outside environment comprises a vitrification container with a lid. The lid comprises two or more electrode seal assemblies through which two or more electrodes may be operatively positioned and extend down through the lid into the vitrification container. The electrodes may move axially up and down through the electrode seal assemblies or lock into place. The electrode seal assemblies each comprise a housing having two halves with recessed ring grooves. Sealing rings with a split may be placed into the grooves. Gas galleries may be machined or cast into the housing such that they are adjacent to the ring grooves. The gas galleries distribute gas onto the external faces of the sealing rings causing a change in pressure resulting in the sealing rings compressing onto the electrodes and forming a seal.

Abstract: Disclosed herein are systems, methods, processes, and apparatuses for treating radioactive waste, through systems designed to bind and dry radioactive media. In some of its various embodiments, the system includes at least one helical screw designed to receive and mix liquid wastes with ion exchange media, as well as convey the resulting slurry through one or more of a binding, dewatering, and drying/off-gassing region.

Abstract: Systems and methods are disclosed herein for a robotic manipulator arm deployment and control system. The system comprises at least a vertical mast, a mast deployment system comprising at least two cams, an elbow, an arm wherein the arm is operable to deploy tools, and one or more sensors including a non-contact sensor and a dynamic measurement unit. The cams cause the vertical mast and the arm to remain vertical during deployment into an operating space. The non-contact sensor may be used for measuring range and bearing to objects in the operating space in polar coordinates. The dynamic measurement unit comprises accelerometers and rate sensors and is configured as a six degree of freedom three axis sensor operating in a Cartesian coordinate system. The system further comprises a controller operable to receive the polar and Cartesian coordinates from the sensors and convert them to a Cartesian coordinate system.

Abstract: Disclosed herein are systems and methods for a modular reconfigurable shielding system for one or more storage containers in temporary or long term storage. The system comprises shield panels which may be used to shield external faces of containers in a storage configuration to reduce the overall amount of shielding required in a storage facility. Reducing the amount of shielding reduces the storage footprint of each container thus increasing storage capacity and efficiency of the storage facility. The modularity of the shield panels allows storage containers to be easily added and removed from the storage configuration. Additionally, modular shielding allows the amount and type of shielding to be easily reconfigured for differing requirements and storage contents.

Abstract: Disclosed herein are systems, methods, processes, and apparatuses for treating radioactive waste, through systems designed to bind and dry radioactive media and to mechanical devices and techniques that are utilized for removal of granular media from confined spaces (vessels and tanks). In some of its various embodiments, the system processes spent ion exchange media for long-term storage.

Abstract: A mobile processing system is disclosed for the removal of radioactive contaminants from nuclear process waste water. The system is fully scalable, modular, and portable allowing the system to be fully customizable according the site-specific remediation requirements. It is designed to be both transported and operated from standard sized intermodal containers or custom designed enclosures for increased mobility between sites and on-site, further increasing the speed and ease with which the system may be deployed. Additionally, the system is completely modular wherein the various different modules perform different forms or stages of waste water remediation and may be connected in parallel and/or in series. Depending on the needs of the particular site, one or more different processes may be used. In some embodiments, one or more of the same modules may be used in the same operation.

Abstract: The present disclosure relates to cable routing approaches that allow cables to pass through a traditional chain joint without reducing the strength capacity or impairing the range of motion of the joint. The routing approaches permit the cables to be housed inside the structure of the robotic arm and pass through the chain joint in a manner that does not limit the width of the chain.

Abstract: Systems and methods for a robotic system capable of carrying out operations in a hazardous or confined space. The system comprises a manipulator arm, a plinth, a trolley, an end effector, and a control system. The plinth and trolley each comprise one or more locking pawls for securing the system to mounting levels along a length of the manipulator arm. The system is capable of maneuvering between mounting points in an inch-worm-like fashion. Motion starts from a fixed position where both the trolley and plinth locking pawls are secured to a first mounting level along the length of the manipulator arm. The trolley locking pawls are then released and the trolley runs along the manipulator and secures locking pawls to a second mounting level along the length of the manipulator arm. The plinth locking pawls are then released and the plinth is drawn to the second mounting level along the length of the manipulator arm where it is secured via locking pawls.

Abstract: Apparatuses, processes and methods for the separation, isolation, or removal of radioactive isotopes from liquid radioactive waste, these processes and methods employing a plurality of microspheres. In some embodiments, the processes and methods further include the vitrification of the separated isotopes, generally with the plurality of microspheres. Vitrification is often a step in a larger scheme of preparing the radioactive isotopes for long-term storage or other disposition.

Abstract: A mobile processing system is disclosed for the removal of radioactive contaminants from nuclear process waste water. The system is fully scalable, modular, and portable allowing the system to be fully customizable according the site-specific remediation requirements. It is designed to be both transported and operated from standard sized intermodal containers or custom designed enclosures for increased mobility between sites and on-site, further increasing the speed and ease with which the system may be deployed. Additionally, the system is completely modular wherein the various different modules perform different forms or stages of waste water remediation and may be connected in parallel and/or in series. Depending on the needs of the particular site, one or more different processes may be used. In some embodiments, one or more of the same modules may be used in the same operation.

Abstract: Systems and methods are disclosed for utilizing lead-lag configurations with ion exchange systems to increase process efficiency, increase media utilization, and reduce system downtime.

Abstract: Systems and methods are disclosed for controlling performance of a mixed ion exchange media comprising two or more media. The weighted average of a quantity of the first media having a first rate of exchange to a quantity of a second media having a second rate of exchange is determined based on predetermined requirements for the resulting mixed media. After determining the weighted average, the first and second media are mixed resulting in a mixed media having a third rate of exchange. The mixed media is introduced to an ion exchange column. Contaminated liquid is then introduced to the column creating a mass transfer zone within the column. The mixed media is generally considered optimized when it meets three conditions simultaneously: 100% safety limitation, 100% media capacity used, and effluent criteria are met.

Abstract: Disclosed herein are systems and methods for a modular reconfigurable shielding system for one or more storage containers in temporary or long term storage. The system comprises shield panels which may be used to shield external faces of containers in a storage configuration to reduce the overall amount of shielding required in a storage facility. Reducing the amount of shielding reduces the storage footprint of each container thus increasing storage capacity and efficiency of the storage facility. The modularity of the shield panels allows storage containers to be easily added and removed from the storage configuration. Additionally, modular shielding allows the amount and type of shielding to be easily reconfigured for differing requirements and storage contents.

Abstract: Systems and methods are disclosed herein for a robotic manipulator arm deployment and control system. The system comprises at least a vertical mast, a mast deployment system comprising at least two cams, an elbow, an arm wherein the arm is operable to deploy tools, and one or more sensors including a non-contact sensor and a dynamic measurement unit. The cams cause the vertical mast and the arm to remain vertical during deployment into an operating space. The non-contact sensor may be used for measuring range and bearing to objects in the operating space in polar coordinates. The dynamic measurement unit comprises accelerometers and rate sensors and is configured as a six degree of freedom three axis sensor operating in a Cartesian coordinate system. The system further comprises a controller operable to receive the polar and Cartesian coordinates from the sensors and convert them to a Cartesian coordinate system.

Abstract: A method and an apparatus for automatically collecting and processing nondestructive test (NDT) data to determine the presence, type, location, size, and strength of defects in composite, honeycomb, and grid structures like those found in aircraft, wind blades, boats, cars, building structures. The preferred embodiment is comprised of an uncooled IR mounted on a frame, a conductive heating mat, an IR Ruler with fiducials in a recognizable pattern, a computer, a processor, and output displays. The data collection, processing, and display output can be controlled or reviewed remotely via the internet. The processing, location, and output displays can be applied to any NDT system that collects and processes a two dimensional amplitude image (e.g., x-ray systems).

Abstract: Systems and methods are disclosed for inspection, maintenance, debris removal, and cleaning of environments that may be difficult to access and hazardous. The system comprises a mast assembly, an arm assembly, a debris removal system, and a drive system. The mast assembly comprises an inner mast and an outer mast having a central axis about which the arm assembly revolves. The arm assembly provides support for the debris removal system. The debris removal system comprises a bucket tool, a plow tool, and one or more hoses for clearing and removing debris. The drive system comprises a plurality of one or more of cables, pulleys, rollers, and hoists to at least one of control motion of the arm assembly, raise and lower the inner mast, and position and control at least one of the bucket tool and the plow tool. The system is at least one of manually and automatically controlled.