Information Last Revised: March 29, 1993
TTP Reference Number: ID-3320-01
1. Technical Name of Technology: Remote Characterization System
2. Common Name of Technology: RCS
3. PI and Telephone No: Bruce Wilding, (208) 526-8160; Gerry Sandness, (509) 375-3808
4. Affiliation: Idaho National Engineering Laboratory, Pacific Northwest Laboratory
5. Technology Category: Characterization & Monitoring Technologies - DT&E
6. Developers: Pacific Northwest Laboratory, Sandia National Laboratory, Lawrence Livermore National Laboratory, Idaho National Engineering Laboratory, Oak Ridge National Laboratory
7. Application:
7.1. Where (in-situ/ex-situ): In Situ
7.2. Media: Soil, Buried Waste
7.3. Targeted Contaminants: Metals, VOCs, radionuclides, others (any sensor could be mounted on the Remote Characterization System
8. Scope of project (feasibility study, treatability, bench, pilot, field):
Field test
9. Integrated Demonstration (ID) Need/Requirements:
The volume of waste buried at the Subsurface Disposal area at the INEL is estimated to be 2 million cubic feet of contaminated, hazardous, radioactive material, primarily from the Rocky Flats Plant, intermixed with 6 million cubic feet of fill dirt which is similarly contaminated. The waste was received in cardboard boxes, steel drums, plywood boxes, and as loose material. Most of these containers have passed their 20-year design life, and are expected to be in various stages of deterioration. Other Laboratories have similar wastes.
Initial non-intrusive characterization of the buried waste is a vital task in determining the exact location of pit and trench boundaries, hot spots, radiation levels, and depths to the waste level as well as to the basalt layer. This information is not available to the extent desired for detailed remediation planning activities. Current non-invasive subsurface mapping techniques are labor intensive, time consuming, and can present a hazard to personnel scanning a waste site with geophysical sensors, especially after the soil overburden is removed. This task plan presents an alternative characterization technique to allow improved data quality through automated data acquisition, improved data display for interpretation, and increased safety to personnel. The system could be used in concert with overburden removal; the system will be driven over the affected area.
10. Objective
10.1. Objective of technology:
The objective of this project is to test and field demonstrate a remote characterization system being developed under the Robotics Technology Development Program (RTDP) in support of the Buried Waste Integrated Demonstration (BWID) Program. One of the technology areas within the RTDP is the Buried Waste Robotics Program (BWRP); chartered to develop technologies to assist in the remediation of buried waste sites. These remediation tasks include waste characterization, retrieval, and treatment using remote controlled devices that will remove an operator from the hazardous environment and increase the speed of operations, thus increasing safety and reducing the overall cost.
A demonstration in June 1993 is scheduled to validate the feasibility of remote and high precision characterization of buried waste at the cold test pit at the Idaho National Engineering Laboratory (INEL). The test pit simulates buried waste configurations that may be encountered during characterization efforts at various DOE sites. The purpose of performing this demonstration is to determine how practical remote sensors are for characterizing buried waste.
The RCS demonstration has several objectives. The primary objective is to demonstrate the feasibility of remote characterization. The supporting objectives are to determine the (a) precision and accuracy capabilities of the system, (b) reliability of the system, (c) determine the usability of the system, (d) factors that may affect the system performance, and (e) to develop a knowledge base on remote characterization to assist in future improvement of the system.
10.2. Baseline (baseline technology to which it is compared):
Manual Characterization (Manual Char.)
11. Process Description:
A Remote Characterization System (RCS) is being developed under the Buried Waste Robotics Program (BWRP). The RCS consists of an advanced remote controlled, low signature (nonferrous) platform, a high level control station, a Global Positioning System, and a suite of geophysical sensors. The purpose of the RCS is to remotely deliver several geophysical sensors to a buried waste site on one platform, obtain data from these sensors via a radio frequency telemetry link, and provide accurate subsurface maps of the waste streams and pit and trench boundaries. This project is to provide a demonstration to present remote subsurface mapping technology for future implementation by Environmental Restoration Programs.
11.1. Input: The simulated buried waste cold test pit at the Idaho National Engineering Laboratory will provide the Fiscal Year 1993 test bed. Note that this input is for this year's activities only. In general, the input would be any buried waste.
11.2. Output:
Data characterizing the simulated buried waste cold test pit at the Idaho National Engineering Laboratory. Again, note that this output is for this year's activities only. In general, the output would be data characterizing the buried waste.
12. Summary of Technology Advantages (relative to the baseline: faster, better, cheaper, safer):
Using remote controlled devices removes operator(s) from hazardous environments and increases the speed of operations, thus increasing safety and reducing the overall cost.
13. Limitations of Technology (relative to the baseline: faster, better, cheaper, safer):
Limitations of robotic platform and sensor packages are unknown at this time.
14. Major Technical Challenges:
Major challenges include: a) the development of a survey vehicle that is highly maneuverable and reliable, yet is made of non-metallic materials that will not affect the on-board sensors; b) precise remote control of the vehicle using RF telemetry, video cameras, and automated tracking devices; and c) the development of sensitive rugged sensors that can operate on a moving vehicle and can acquire high-quality data under remote control.
15. Technical Effectiveness:
15.1. Performance
15.1.1. Remaining Contamination: (contamination mobility reduction, volume reduction, toxicity reduction)
Summary (20 words or less): Not applicable to a characterization technology.
Further Description (unlimited length):
15.1.2. Process Waste
15.1.2.1. Status of waste (mobility, volume, hazard, recyclability)
Summary (20 words or less): No waste generation is anticipated.
Further Description (unlimited length):
15.1.2.2. Treatment (needed, available)
Summary (20 words or less): Not applicable to a characterization technology.
Further Description (unlimited length):
15.1.2.3. Decontamination / Decommissioning
Summary (20 words or less): Decontamination may be necessary only if exposed to contamination during field operations. The RCS was designed to be easily decontaminated.
Further Description (unlimited length):
15.1.2.4. Disposal (needed, available)
Summary (20 words or less): Not applicable to a characterization technology.
Further Description (unlimited length):
15.1.3. Practicality
15.1.3.1. Foreclose Future Options
Summary (20 words or less): No effects on future options.
Further Description (unlimited length):
15.1.3.2. Reliability
Summary (20 words or less): It is anticipated that there will be minimal maintenance required on the RCS platform during operation. Fueling will be required approximately every 6-8 hours.
Further Description (unlimited length): Vehicle and sensor package reliability will be assessed during Fiscal Year 1993.
15.1.3.3. Failure Control
Summary (20 words or less): No immediate consequences if the RCS fails.
Further Description (unlimited length):
15.1.3.4. Ease of Use
Summary (20 words or less): The system is designed for remote use from a human engineering control station. A human factors analysis on the system will be performed as a part of the tests.
Further Description (unlimited length):
15.1.3.5. Infrastructure
Summary (20 words or less): The infrastructure required to operate the RCS is the control station and is a part of the overall system.
Further Description (unlimited length): A 10-20 thousand watt (110/220 volt) generator or equivalent power source is required.
15.1.3.6. Versatility
Summary (20 words or less): This technology is applicable to any buried wastes. This technology could be used for surface and near-surface contamination as well.
Further Description (unlimited length): Various sensors can be added to the deployment vehicle if necessary.
15.1.3.7. System Compatibility
Summary (20 words or less): The RCS can be easily integrated into an overall ER systems approach to remediation. The RCS should not interfere with other site remediation actions.
Further Description (unlimited length):
15.1.3.8. Off-the-Shelf (procurement ease)
Summary (20 words or less): The sensors deployed can be off-the-shelf but the vehicle is not. Sensors must be modified for remote deployment.
Further Description (unlimited length): In order for the vehicle to not interfere with the sensors, the vehicle was designed with a low ferrous content. The assembly of future vehicles will be based on the design of the initial vehicle (prototype), thus will be easier and less expensive.
15.1.3.9. Maintainability
Summary (20 words or less): Fueling, oil changes, and filter changes are the only routine maintenance that must be performed.
Further Description (unlimited length): The engine operates on unleaded fuel. Fuel efficiency is approximately 1 gal/hr. Sensor package calibration requirements will be assessed during Fiscal Year 1993.
15.1.3.10. Safety Measures
Summary (20 words or less): Vehicle power is discontinued when the vehicle is at a distance too far from the control station or by a manual switch on the vehicle.
Further Description (unlimited length): Vehicle power is discontinued when the vehicle is at a distance too far from the control station and therefore doesn't receive signals. This distance will be determined during testing. In addition, there is a manual switch on the vehicle.
15.1.4. "Works" (functions as intended):
Summary (20 words or less): The purpose of the field test is to determine the capabilities of the RCS.
Further Description (unlimited length): The RCS demonstration has several objectives. The primary objective is to demonstrate the feasibility of remote characterization. The supporting objectives are to determine the (a) precision and accuracy capabilities of the system, (b) reliability of the system, (c) usability of the system, (d) factors that may affect the system performance, and (e) to develop a knowledge base on remote characterization to assist in future improvement of the system. Some of the tests will be performed at PNL or ORNL prior to the field demonstration tests at the INEL this summer.
15.2. Cost
15.2.1. Start-Up Cost
Summary (20 words or less): Once on site, system start-up requires only a few man-hours of work.
Further Description (unlimited length): Start-up activities consist mainly of unloading and fueling the survey vehicle, mounting the sensors and telemetry antennas, connecting power, turning on the base-station computers, establishing a geographical reference point, and confirming normal operation. These activities can normally be completed in one or two hours.
15.2.2. Operations and Maintenance Cost
Summary (20 words or less): To be determined. The normal operating crew will be two persons. Other costs are primarily for fuel and normal vehicle and sensor maintenance.
Further Description (unlimited length):
15.2.3. Life-cycle cost
Summary (20 words or less): To be determined. The useful lifetime of this system and its major components are not yet known.
Further Description (unlimited length): The estimated replacement cost of the system is approximately $550k. Start-up costs have been approximately $3 million, with funding provided by the Department of Defense and Department of Energy.
15.3. Time
15.3.1. Years Until Available
Summary (20 words or less): The initial prototype will be available by June 1993. Additional enhancements are being proposed for FY94 funding.
Further Description (unlimited length): Specific areas may require other sensors that could easily be adapted to the RCS.
15.3.2. Speed/Rate
Summary (20 words or less): The vehicle can travel between approximately 1 to 6 feet per second (or 2/3 to 4 miles per hour). Specific time studies will be performed during the tests.
Further Description (unlimited length): At this time, it is estimated that the optimum speed will be approximately 3 ft/sec. This information will be available in the Technology Evaluation Report scheduled for completion September 30, 1993.
15.3.3. Years to Finish
Summary (20 words or less): The initial prototype will be available by June 1993. Additional enhancements are being proposed for FY94 funding.
Further Description (unlimited length): Specific areas may require other sensors that could easily be adapted to the RCS.
16. Environmental Safety and Health
16.1. Worker Safety
16.1.1. Exposure to Hazardous Materials/Hazards
Summary (20 words or less): This system is remote and thus eliminates worker exposure to hazardous environments.
Further Description (unlimited length): At this time, a system has not been developed to support refueling and maintenance of the vehicle. Such a remote utility vehicle is proposed for FY94 funding.
16.1.2. Physical Requirements
Summary (20 words or less): The vehicle requires no lifting. All controls are either keyboard or joystick operations.
Further Description (unlimited length):
16.1.3. Number of People Required
Summary (20 words or less): One operator is required to maneuver the vehicle. A qualified geophysicist(s) will be required for data interpretation.
Further Description (unlimited length):
16.2. Public Health and Safety
16.2.1. Accidents
Summary (20 words or less): Not relevant.
Further Description (unlimited length):
16.2.2. Routine Releases
Summary (20 words or less): Not relevant.
Further Description (unlimited length):
16.2.3. Transportation
Summary (20 words or less): Not relevant.
Further Description (unlimited length):
16.3. Environmental Impacts
16.3.1. Ecological Impacts
Summary (20 words or less): No ecological impacts are anticipated. The characterization is non-intrusive.
Further Description (unlimited length):
16.3.2. Aesthetics
Summary (20 words or less): No impacts are anticipated.
Further Description (unlimited length):
16.3.3. Natural Resources
Summary (20 words or less): Not relevant.
Further Description (unlimited length):
16.3.4. Energy Demands
Summary (20 words or less): Energy use is minimal. The control van requires approximately 12 thousand watts (continuous) to operate the equipment and to heat or cool the van.
Further Description (unlimited length): The fuel efficiency of the survey vehicle is approximately 1 gallon/hour of unleaded fuel.
17. Socio-Political Interests
17.1. Public Perception
17.1.1. Proponent Reputation
Summary (20 words or less): None anticipated since this is a remote technology, removing the workers from potential hazards.
Further Description (unlimited length): This is an attractive technology because of its visually interesting robotic character and because it will allow the operators to work in a safe and comfortable environment.
17.1.2. Familiarity / Understandability
Summary (20 words or less): Interested non-technical parties and individuals are unlikely to be familiar with this technology, but it can be described for a wide audience to understand.
Further Description (unlimited length):
17.2. Tribal Rights / Future Land Use
17.2.1. Capacity for Unrestricted Use (terrestrial, aquatic)
Summary (20 words or less): The vehicle is a non-intrusive characterization method for buried waste. The clearance of the vehicle (due to the ground penetrating radar sensor) is one inch.
Further Description (unlimited length):
17.3. Socio-Economic Interests
17.3.1. Economic Impacts
Summary (20 words or less): No significant economic impacts are anticipated.
Further Description (unlimited length):
17.3.2. Labor Force Demands
Summary (20 words or less): No significant labor force demands are anticipated. Labor needs will be reduced by deploying multiple sensors at one time.
Further Description (unlimited length):
18. Regulatory Objectives
18.1. Compatibility with Cleanup Milestones
Summary (20 words or less): This system can aid in meeting cleanup milestones across the complex by decreasing the time required to characterize.
Further Description (unlimited length):
18.2. Regulatory Infrastructure / Track Record
Summary (20 words or less): Unknown.
Further Description (unlimited length):
18.3. Regulatory Compliance
Summary (20 words or less): The RCS can be used to assist DOE Environmental Restoration in the CERCLA process.
Further Description (unlimited length):
19. Industrial Partnerships
19.1. Company Names:
None at this time.
During FY94, it is proposed to transfer the technology to private industry.
19.2. Rationale:
Not relevant.
19.3. Contract Mechanism:
Not relevant.
19.4. Other Potential Companies:
Not relevant at this time.
19.5. International:
Not relevant at this time.
20. Intellectual Property
20.1. Patent Ownership:
DOE
20.2. Other Owners:
DOD
20.3. Patent Number:
Unknown.
21. Cost Sharing:
This program is a Department of Energy Office of Technology Developmentjoint effort among the INEL, PNL, SNL, LLNL, and ORNL. Funding for the development of the RCS was obtained through the Robotics Technology Development Program (RTDP) and the Department of Defense. The testing and demonstration of the RCS was funded by the Buried Waste Integrated Demonstration (BWID).
22. Background on this technology (Where did the idea come from? Who else is doing similar work? What have the results been to date? What is the most significant competitor to this technology?):
The RCS concept is based on the need for safer, more efficient, and more effective methods for investigating the subsurface at waste burial sites. Manned survey vehicles and man-carried sensors have been used for a long time, but such operations expose the operators to the hazards of surface radiation, toxic chemicals, the possibility of ground collapse, and the dangers associated with work on or near moving vehicles. Workers at surface-contaminated sites are required to wear protective clothing. Their efficiency and safety is seriously degraded by this requirement, particularly in summer heat. Remotely controlled survey vehicles and sensors offer significant potential advantages in terms of safety, efficiency, and data quality. The RCS system is the only known system of its type.
23. Reference Documents:
G. A. Sandness, D. W. Bennett, L. Martinson, D. N. Bingham, A. A. Anderson, "A Remote Characterization System for Subsurface Mapping of Buried Waste Sites", Proceedings of Spectrum '92 International Topical Meeting on Nuclear and Hazardous Waste Management, August 23-27, 1992, Boise, Idaho, V. 2, pp. 86-92.