NASA Robotics
And Solutions for Nuclear Cleanup Applications

Dr. Rob AmbroseNASA JSC EngineeringOverall Themes
Common Needs for NASA and Nuclear Cleanup
Robotics
Radiation tolerant systems
Dirty environments
Dangerous tasks
Handling high consequence materials
Wearable robotics
Remote operations

Other Observations on Cleanup Applications

Radiation Tolerant Robotics
NASA and DOE are rare in dealing with radiation
Both have key needs
Avionics challenges
Material degradation
Clean up after work

Both challenge human healthDirty Environments
NASA and DOE-EM need outdoor (field) robotics
Operating in dirtMechanisms challenges
Material degradation
Clean up after work
Handling dirt

Both challenge human healthDangerous Tasks
Dangerous Chemicals
Dangerous Radiation
Dangerous Sharps
Distance to Safety
Airlocks, Tunnels, Suits
Extraction Difficulties
Transport to Medical Treatment

Handling High Consequence Materials
Dangerous Materials
Expensive Objects
One-of-a-Kind Samples
Avoiding Inadvertent Drops
Explosions
Contaminations
Cleanup Costs

Wearable Robotics
Improve Safety
Extend Careers
Level Playing Field
Embraced by Workers
This is unusual in my history
Aging workforce
Medical/legal costs

Remote Operations
Communications ChallengesDistanceNoise
Denied Areas
Employ Human Judgement
Provide Data
Context
Decision Making Options

DOE-EM Robotics Applications
DOE-EM Study Team Site Visits
WIPP
Tunnel mobility, inspection, monitoring, logistics
Manipulation with long reach, pallet handling

Idaho Falls
Dry material handling, “silo” access, barrel processing
Liquid handling, monitoring, processing

Savannah River
Canyon operations, inspection, and D&D
Tunnel access, glove box operations, manipulation

Hanford (so, so many….)
Underground tank inspection, material handling, D&D
PUREX tunnel inspection, access, D&D, emergency response
Canyon operations, inspection, servicing, life cycle planning

Case Study: Human-Robot Teams• NASA GM Partnership– Safe robot for working with people– Focused on jobs that hurt workers• Robonaut 2 Development– What if you could work next to arobot, safely– Developed multiple Robonaut 2’s• Applications to Cleanup– Glovebox manipulation– Assembly, decommissioning,
contingency tasks

Case Study: Robotic Gloves• NASA GM Partnership– Safe robot for working with people– Focused on jobs that hurt workers• Glove Spin Off– What if you could wear the robot
hand?
– Developed the Robo Glove• Partnered with DOE– How would DOE workers use aglove?
– Now working other applications.

Case Study: Robotic Off Road Vehicle• NASA Lunar Rover– Pressurized Cabin– Radiation Shielded– 2 Crew for 2 Weeks– 200 Km Range– Can carry robots on outside– Humans egress thru suit ports• 2nd Generation in Design– Able to operate in contamination– Looking for partnerships
https://www.youtube.com/watch?v=xSVupWflmG4

Case Study: Small, Agile Vehicle• Modular Robotic Vehicle– Separate Wheel Modules• Steering• Suspension• Drive– Drive-by-wire Cockpit– All electric design– Intrenisic safety by design• Cleanup Applications– Maneuverable inside tunnels,buildings– Able to carry manipulators, forklifts– Manned and unmanned operations

Thank You

robert.o.ambrose@nasa.gov