Publications Details
A miniaturized sensor laboratory for in situ characterization of hazardous waste by a robot
This paper describes current research and development on a miniaturized sensing system for use during in situ characterization of nuclear waste storage tanks. Sandia is designing this sensing system as a tool for a large robotic arm that is deployed through an access port in the top of a storage tank. While the robot arm scans the sensing package over the waste, a distributed computing system acquires sensor data, correlates the data with the position of the robot, and produces maps of the chemical and radiological contents of the tanks in real time. We have built and demonstrated a first prototype system containing eight sensors. 53 refs.