Publications

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This work describes the design, simulation, fabrication and characterization of a microfabricated thermal conductivity detector to be used as an extension of the {micro}ChemLab{trademark}. The device geometry was optimized by simulating the heat transfer in the device, utilizing a boundary element algorithm. In particular it is shown that within microfabrication constraints, a micro-TCD optimized for sensitivity can be readily calculated. Two flow patterns were proposed and were subsequently fabricated into nine-promising geometries. The microfabricated detector consists of a slender metal film, supported by a suspended thin dielectric film over a pyramidal or trapezoidal silicon channel. It was demonstrated that the perpendicular flow, where the gas directly impinges on the membrane, creates a device that is 3 times more sensitive than the parallel flow, where the gas passed over the membrane. This resulted in validation of the functionality of a microfabricated TCD as a trace-level detector, utilizing low power. the detector shows a consistent linear response to concentration and they are easily able to detect 100-ppm levels of CO in He. Comparison of noise levels for this analysis indicates that sub part per million (ppm) levels are achievable with the selection of the right set of conditions for the detector to operate under. This detector was originally proposed as part of a high-speed detection system for the petrochemical gas industry. This system was to be utilized as a process monitor to detect reactor ''upset'' conditions before a run away condition could occur (faster than current full-scale monitoring systems were able to achieve). Further outlining of requirements indicated that the detection levels likely achievable with a TCD detector would not be sufficient to meet the process condition needs. Therefore the designed and fabricated detector was integrated into a detection system to showcase some technologies that could further the development of components for the current gas phase {micro}ChemLab as well as future modifications for process monitoring work such as: pressurized connections, gas sampling procedures, and packed columns. Component integration of a microfabricated planar pre-concentrator, gas-chromatograph column and TCD in the separation/detection of hydrocarbons, such as benzene, toluene and xylene (BTX) was also demonstrated with this system.

The mission of the Robotics Technology Development Program involves the following: develop robotic systems where justified by safety, cost, and/or efficiency arguments; integrate the best talent from National Labs, industry, and universities in focused teams addressing complex-wide problems; and involve customers in the identification and development of needs driven technologies. This presentation focuses on five areas. They are: radioactive tank waste remediation (Richland); mixed waste characterization, treatment, and disposal (Idaho Falls); decontamination and decommissioning (Morgantown); landfill stabilization (Savannah River); and contaminant plumes containment and remediation (Savannah River).

This report evaluates telerobotic and teleoperational arm-based retrieval systems that require advanced robotic controls. These systems will be deployed in waste retrieval activities in Hanford`s Single Shell Tanks (SSTs). The report assumes that arm-based, retrieval systems will combine a teleoperational arm and control system enhanced by a number of advanced and telerobotic controls. The report describes many possible enhancements, spanning the full range of the control spectrum with the potential for technical maturation. The enhancements considered present a variety of choices and factors including: the enhancements to be included in the actual control system, safety, detailed task analyses, human factors, cost-benefit ratios, and availability and maturity of technology. Because the actual system will be designed by an offsite vendor, the procurement specifications must have the flexibility to allow bidders to propose a broad range of ideas, yet build in enough restrictions to filter out infeasible and undesirable approaches. At the same time they must allow selection of a technically promising proposal. Based on a preliminary analysis of the waste retrieval task, and considering factors such as operator limitations and the current state of robotics technology, the authors recommend a set of enhancements that will (1) allow the system to complete its waste retrieval mission, and (2) enable future upgrades in response to changing mission needs and technological advances.