Automated glovebox bagout

摘要

In FY91, the Intelligent Machines Technologies Group at Sandia National Laboratories (SNL) developed a robotic prototype system that automates the removal of nuclear material from gloveboxes (called bagout) at Rocky Flats Plant (RFP). This work was funded by RFP and the Office of Security and Safeguards (OSS) at the Department of Energy (DOE) through the Facility Systems Engineering Department. With increasing concerns of dose reduction to meet ever-changing environmental, safety, and health (ES&H) standards, the need for an automated process to handle high-dose operations will increase. By removing the operators from the ''hands-on'' operation of bagout, the automated glovebox bagout (AGB) system reduces the dose. The automated platform uses a commercially available robot in combination with automated fixturing and computer control to provide a system that removes the material from the glovebox through the bag, seals the bag, and stores the bagged material into containers. Material waste is reduced by modifying the bagging process using an rf sealer instead of the conventional ''twist and tape'' method and by reducing the bag diameter used for bagout. Security and safeguards is achieved primarily by relieving the operator of handling the material. In addition, accountability for the special nuclear materials is achieved through verification of the procedure. Security measures designed against insider threat have also been developed.