Requirements and design concept for a facility mapping system

The Department of Energy (DOE) has for some time been considering the Decontamination and Dismantlement (D ampersand D) of facilities which are no longer in use, but which are highly contaminated with radioactive wastes. One of the holdups in performing the D ampersand D task is the accumulation of accurate facility characterizations that can enable a safe and orderly cleanup process. According to the Technical Strategic Plan for the Decontamination and Decommissioning Integrated Demonstration, open-quotes the cost of characterization using current baseline technologies for approximately 100 acres of gaseous diffusion plant at Oak Ridge alone is, for the most part incalculableclose quotes. Automated, robotic techniques will be necessary for initial characterization and continued surveillance of these types of sites. Robotic systems are being designed and constructed to accomplish these tasks. This paper describes requirements and design concepts for a system to accurately map a facility contaminated with hazardous wastes. Some of the technologies involved in the Facility Mapping System are: remote characterization with teleoperated, sensor-based systems, fusion of data sets from multiple characterization systems, and object recognition from 3D data models. This Facility Mapping System is being assembled by Oak Ridge National Laboratory for the DOE Office of Technology Development Robotics Technology Development Program