PUREX irradiated fuel recovery simulation

This paper discusses the application of IGRIP (Interactive Graphical Robot Instruction Program) to assist environmental remediation efforts at the Department of Energy PUREX Plant at the Hanford Site. An IGRIP simulation was developed to plan, review, and verify proposed remediation activities. This simulation was designed to satisfy a number of unique purposes that each placed specific constraints and requirements on the design and implementation of the simulation. These purposes and their influence on the design of the simulation are presented. A discussion of several control code architectures for mechanical system simulations, including their advantages and limitations, is also presented