Abstract: Cable routing approaches are described 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 cable 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: 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 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 or automatically controlled.

Abstract: A robotic arm control system including a robotic arm configured to deploy one or more tools in an operating space, one or more sensors, and a control system operably configured to: scan the operating space with the one or more sensors, identify a surface of the operating space based at least in part upon information sensed by the one or more sensors, establish a virtual barrier offset from the surface, and limit movement of the robotic arm based at least in part upon the virtual barrier.

Abstract: A tank cleaning system for cleaning a space. The tank cleaning system can include a trailer having a support base transportable by a vehicle, and an arm movably mounted to the support base for movement relative to the support base. The arm can be operable to extend into the space to perform a cleaning operation inside the space.

Abstract: A robotic arm control system including a robotic arm configured to deploy one or more tools in an operating space, one or more sensors, and a control system operably configured to: scan the operating space with the one or more sensors, identify a surface of the operating space based at least in part upon information sensed by the one or more sensors, establish a virtual barrier offset from the surface, and limit movement of the robotic arm based at least in part upon the virtual barrier.

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: A liquid phase catalytic exchange column with a catalyst is configured to receive hydrogen gas. The system uses the catalyst to exchange the hydrogen gas with the tritiated source yielding HT gas and tritiated water. The system monitors tritium content of the tritiated water. When a predetermined tritium level is detected, the tritiated water is released. The system also includes a gaseous permeation system comprising a permeable barrier for the selective extraction of gases.

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.

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: An object is placed at a particular distance away from the nonreflecting side of a mirror, such that the gravitational force of the object affects the mirror. A laser is then pointed at the opposite, reflecting side of the mirror, thereby itself reflecting off the mirror and going back in to the cavity of the laser, creating a mode-hopping effect. The mirror will be affected by three forces, the force of a spring (FS), the force of a modulating signal (FMS), created by an electro mechanical device attached to the mirror, and the gravitational force of objects as they approach and recede away from the mirror.

Abstract: An object is placed at a particular distance away from the nonreflecting side of a mirror, such that the gravitational force of the object affects the mirror. A laser is then pointed at the opposite, reflecting side of the mirror, thereby itself reflecting off the mirror and going back in to the cavity of the laser, creating a mode-hopping effect. The mirror will be affected by three forces, the force of a spring (FS), the force of a modulating signal (FMS), created by an electro mechanical device attached to the mirror, and the gravitational force of objects as they approach and recede away from the mirror.

Abstract: An object is placed at a particular distance away from the nonreflecting side of a mirror, such that the gravitational force of the object affects the mirror. A laser is then pointed at the opposite, reflecting side of the mirror, thereby itself reflecting off the mirror and going back in to the cavity of the laser, creating a mode-hopping effect. The mirror will be affected by three forces, the force of a spring (FS), the force of a modulating signal (FMS), created by an electro mechanical device attached to the mirror, and the gravitational force of objects as they approach and recede away from the mirror.