Patent Publication Number: US-2023147819-A1

Title: Tamper-indicating device having robotic application features

Description:
FEDERAL RESEARCH STATEMENT 
     This invention was made with Government support under Contract No. DE-AC09-08SR22470, awarded by the U.S. Department of Energy. The Government has certain rights in the invention. 
    
    
     FIELD OF THE INVENTION 
     The subject matter of the present disclosure relates generally to a tamper-indicating device for use with a radioactive material drum enclosure. Particularly, the present disclosure relates to a tamper-indicating device having structural features that allow for robotic application. 
     BACKGROUND OF THE INVENTION 
     Containers and associated systems used to store and ship radioactive materials must be designed and demonstrated to safely contain the radioactive materials and limit personnel exposure, both under normal conditions and in a variety of accident scenarios. For example, the containers and associated systems may be subjected to a variety of tests demonstrating the ability to withstand normal conditions of transport, e.g., water spray test, free drop test, penetration test, compression test, or others, without the loss of any radioactive contents. 
     Generally, these engineered containers are in the form of cylindrically shaped drum enclosures that are used to confine the radioactive material for the purposes of transportation and storage. These engineered containers are typically referred to as “packagings” and must be secured in a way that provides adequate confinement of the radioactive material. Typically, the ends of the drums are closed utilizing standard bolted drum closure rings, welded fittings, and/or bolts to provide an adequate level of integrity for the package to meet safety and testing regulations required to ship radioactive material. 
     Once a drum enclosure containing radioactive material is closed and sealed, it is important the drum enclosure is not opened thereafter by any unauthorized personnel (e.g., the drum enclosure should only be opened by the intended recipient). Additionally, the intended recipient should be made aware if the drum enclosure has been opened or tampered with prior to receipt in order to take the appropriate safety precaution. 
     As such, a device for indicating whether or not the drum enclosure has been opened and/or tampered with would be useful and desired in the art. Particularly, a tamper-indicating device having one or more features that provide for robotic application onto the drum enclosure would be particularly useful. 
     BRIEF DESCRIPTION OF THE INVENTION 
     Aspects and advantages of the assemblies and methods in accordance with the present disclosure will be set forth in part in the following description, may be obvious from the description, or may be learned through practice of the technology. 
     In accordance with one embodiment, a tamper-indicating assembly for a drum enclosure assembly is provided. The drum enclosure assembly includes a drum body, a lid, and a lid ring. The lid ring extends from a first flanged end to a second flanged end. The lid ring secures the lid to the drum body. The drum enclosure assembly further includes a closure bolt having a head and a body that extends through the first flanged end and the second flanged end. The tamper-indicating assembly includes a tamper-indicating device that defines a cavity sized to receive and surround at least a portion of the closure bolt, the first flanged end, and the second flanged end to prevent movement of the closure bolt. A tab extends radially outward from the tamper-indicating device with respect to an axial centerline of the tamper-indicating assembly. The tamper-indicating assembly further includes a pin non-removably coupled to the tamper-indicating device. The pin extends through the tamper-indicating device and across the cavity such that the tamper-indicating device and the pin collectively surround the closure bolt. 
     In accordance with another embodiment, a method of applying a tamper-indicating assembly to a drum enclosure using a robotic system is provided. The drum enclosure assembly includes a drum body, a lid, and a lid ring. The lid ring extends from a first flanged end to a second flanged end, with the lid ring securing the lid to the drum body. The drum enclosure assembly further includes a closure bolt having a head and a body that extends through the first flanged end and the second flanged end. The method includes a step of gripping a tab of the tamper-indicating device with a gripping assembly of the robotic system. The method further includes a step of positioning the tamper-indicating device such that it at least partially surrounds the closure bolt by moving the gripping assembly with the robotic system. The tamper-indicating device defines a bore and further defines a cavity sized to receive at least a portion of the closure bolt. The method further includes a step of inserting a pin with an actuator of the robotic system into the bore and across the cavity such that the pin and the tamper-indicating device collectively surrounds the closure bolt. 
     These and other features, aspects and advantages of the present assemblies and methods will become better understood with reference to the following description and appended claims. The accompanying Figures, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
       A full and enabling disclosure of the present invention, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended Figures, in which: 
         FIG.  1    is a perspective view of a drum enclosure assembly in accordance with embodiments of the present disclosure. 
         FIG.  2    is an enlarged view of an aspect of the drum enclosure assembly of  FIG.  1    in accordance with embodiments of the present disclosure. 
         FIG.  3    is a perspective view of an exemplary tamper-indicating assembly in accordance with embodiments of the present disclosure. 
         FIG.  4    is a perspective view of a tamper-indicating assembly coupled to a drum enclosure assembly in accordance with embodiments of the present disclosure. 
         FIG.  5    is a cross-sectional view of the tamper-indicating assembly coupled to the drum enclosure assembly of  FIG.  4    in accordance with embodiments of the present disclosure. 
         FIG.  6    is a cross-sectional view of a tamper-indicating assembly coupled to a drum enclosure assembly in accordance with embodiments of the present disclosure. 
         FIG.  7    is a perspective view of a robotic system being used to couple a tamper-indicating assembly to a drum enclosure assembly in accordance with embodiments of the present disclosure. 
         FIG.  8    is an enlarged cross-sectional view of the robotic system shown in  FIG.  7    in accordance with embodiments of the present disclosure. 
         FIG.  9    is a flow chart of a method of applying a tamper-indicating assembly to a drum enclosure using a robotic system in accordance with embodiments of the present disclosure. 
       The use of the same or similar reference numerals in the figures denotes the same or similar features. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     Reference now will be made in detail to embodiments of the present methods and systems, one or more examples of which are illustrated in the Figures. Each example is provided by way of explanation, rather than limitation of, the technology. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present technology without departing from the scope or spirit of the claimed technology. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present disclosure covers such modifications and variations as come within the scope of the appended claims and their equivalents. 
     The detailed description uses numerical and letter designations to refer to features in the Figures. Like or similar designations in the figures and description have been used to refer to like or similar parts of the invention. As used herein, the terms “first”, “second,” and “third” may be used interchangeably to distinguish one component from another and are not intended to signify location or importance of the individual components. 
     As used herein, the term “radially” refers to the relative direction that is substantially perpendicular to an axial centerline of a particular component, the term “axially” refers to the relative direction that is substantially parallel and/or coaxially aligned to an axial centerline of a particular component, and the term “circumferentially” refers to the relative direction that extends around the axial centerline of a particular component. Terms of approximation, such as “generally” or “about,” include values within ten percent greater or less than the stated value. When used in the context of an angle or direction, such terms include within ten degrees greater or less than the stated angle or direction. For example, “generally vertical” includes directions within ten degrees of vertical in any direction, e.g., clockwise or counterclockwise. 
     Referring now to the Figures,  FIG.  1    illustrates a perspective view of a drum enclosure assembly  100 , and  FIG.  2    illustrates an enlarged perspective view of the drum enclosure assembly  100 , in accordance with one or more aspects of the present disclosure. As shown, the drum enclosure assembly  100  may include a drum body  102 , a lid  104 , and a lid ring  106  securing the lid  104  to the drum body  102 . For example, the drum body  102  may define one or more open ends, and the lid  104  may be disposed on the open end of the drum body  102 , such that the lid  104  and the drum body  102  collectively define an enclosed interior (e.g., which may be used for storage or shipment of one or more products). The lid ring  106  may extend (e.g., annularly about an axial centerline  172  of the drum enclosure assembly  100 ) from a first flanged end  108  to a second flanged end  110 . The first flanged end  108  and the second flanged end  110  may be spaced apart from one another such that a gap  109  is defined therebetween. A closure bolt  120  having a head  122  and a body  124  may extend through the first flanged end  108  and the second flanged end  110 . For example, the body  124  of the closure bolt  120  may define exterior threads, and the flanges may define internal threads, such that rotation of the closure bolt  120  relative to the flanged ends  108 ,  110  adjusts the width of the gap  109  defined between the flanged ends  108 ,  110 . In this way, the closure bolt  120  may be rotated to adjust the width of the gap  109  between the flanged ends  108 ,  110 , which in turn increases the pressure applied by the lid ring  106  onto the lid  104  and the drum body  102 , thereby securely coupling the lid  104  to the drum body  102 . Thus, the closure bolt  120  couples the lid ring  106  and the lid  104  to the drum body  102 , and the removal of the closure bolt  120  allows the lid  104  to be removed and the interior of the drum body  102  to be accessed. 
       FIGS.  2  through  8    each illustrate one or more exemplary aspects of a tamper-indicating assembly  150  in accordance with embodiments of the present disclosure. As shown by each of  FIGS.  2  through  8   , the tamper-indicating assembly  150  may include a tamper-indicating device  152  and a pin  154  configured to couple to a drum enclosure. In exemplary embodiments, the tamper-indicating assembly  150  may be non-removably coupled to the drum enclosure assembly  100 . For example, as should be appreciated, once the tamper-indicating assembly  150  is coupled the drum enclosure assembly  100 , it may not be removed without being destroyed (e.g., partially destroyed or entirely destroyed), thereby indicating to any subsequent handlers that the drum enclosure has been tampered with and potentially opened. Additionally, the tamper-indicating assembly  150  described herein may include one or more features that facilitate application entirely autonomously or robotically (such as via a robotic system  200 ). In this way, the tamper-indicating assembly  150  may be applied and engaged without requiring human contact or exposure to the drum enclosure, which may contain radioactive materials. 
     In exemplary embodiments, the tamper-indicating device  152  may define a cavity  156  sized to receive at least a portion of the closure bolt  120 , the first flanged end  108 , and the second flanged end  110  to prevent movement of the closure bolt  120 . For example, the tamper-indicating device  152  may surround the closure bolt  120  and the flanged ends in order to prevent the closure bolt  120  from being moved or removed from the drum enclosure assembly  100  without destruction of the tamper-indicating device  152 . For example, as shown in  FIGS.  2  through  8   , at least a portion of the closure bolt  120 , the lid  104 , the lid ring  106 , and/or the drum body  102  may extend into the cavity  156  of the tamper-indicating device  152  (e.g., when the tamper-indicating assembly  150  is coupled to the drum enclosure assembly  100 ). In various embodiments, the cavity  156  of the tamper-indicating device  152  may correspond with or match a shape of at least a portion of the drum enclosure assembly  100 , such that at least a portion of the drum enclosure assembly  100  may extend into the cavity  156  and make flush contact (e.g., continuous contact) with the tamper-indicating device  152 . 
     In particular embodiments, the pin  154  may be non-removably coupled to the tamper-indicating device  152 , such that it cannot be removed without destroying either or both of the pin  154  and/or the tamper-indicating device  152 . Particularly, the pin  154  may extend through the tamper-indicating device  152  and across the cavity  156 , such that the tamper-indicating device  152  and the pin  154  collectively surround the closure bolt  120  when attached to the drum enclosure assembly  100 . In this way, the pin  154  ensures that the tamper-indicating assembly  150  may not be removed from the drum enclosure assembly  100  once coupled thereto. 
     In many embodiments, the tamper-indicating device  152  may further include a mid-body portion  158 , a first arm  160  extending from the mid-body portion  158 , and a second arm  162  extending from the mid-body portion  158  opposite the first arm  160 . The mid-body portion  158  of the tamper-indicating device  152  may be disposed between the first arm  160  and the second arm  162 , and both the first arm  160  and the second arm  162  may extend from the mid-body portion  158 . The mid-body portion  158  may be sized to receive a portion of the closure bolt  120 . For example, the mid-body portion  158  may be generally U-shaped, and a portion of the body  124  of the closure bolt  120  may extend through the cavity  156  defined by the U-shaped mid-body portion  158  of the tamper-indicating device  152 . Stated otherwise, the mid-body portion  158  of the tamper-indicating device  152  may at least partially surround a portion of the body  124  of the closure bolt  120 . Particularly, when coupled to the drum enclosure assembly  100 , the mid-body portion  158  of the tamper-indicating device  152  may be disposed between the first flanged end  108  and the second flanged end  110  and may at least partially surround a portion of the body  124  of the closure bolt  120 . 
     Both the first arm  160  and the second arm  162  may extend from the mid-body portion  158  of the tamper-indicating device  152  in opposite directions (e.g., generally axially with respect to the axial centerline  170  of the tamper-indicating assembly  150 ). For example, the first arm  160  may extend from the mid-body portion  158  and at least partially surround the first flanged end  108  and the head  122  of the closure bolt  120 , and the second arm  162  may extend from the mid-body portion  158  and at least partially surround the second flanged end  110  and the body  124  of the closure bolt  120 . 
     In exemplary embodiments, the first arm  160  may include an axial portion  166  and a radial wall  168  that prevents axial movement of the closure bolt  120 . For example, the axial portion  166  of the first arm  160  may extend generally axially from the mid-body portion  158  of the tamper-indicating device  152  to the radial wall  168 . Particularly, the axial portion  166  may extend from the mid-body portion  158 , along the first flanged end  108  of the lid ring  106  and the head  122  of the closure bolt  120 , to the radial wall  168 . The radial wall  168  may prevent axial movement of the closure bolt  120  (e.g., the radial wall  168  may prevent the closure bolt  120  from being moved or removed without destruction of the tamper-indicating device  152 ). For example, the radial wall  168  may contact the head  122  of the closure bolt  120  to prevent the closure bolt  120  from being moved or removed from the flanged ends  108 ,  110 . Particularly, the radial wall  168  may extend generally perpendicularly to the axial centerline  170  of the tamper-indicating assembly  150 . The radial wall  168  impedes or blocks the closure bolt from being removed (e.g., unless the tamper-indicating device  152  is destroyed). For example, attempting to remove the closure bolt  120  while the tamper-indicating assembly  150  is in place would result in contact between the head  122  and the radial wall  168 . If enough force is applied to the closure bolt  120 , the radial wall  168  will be permanently destroyed, thereby indicating to users thereafter that the drum enclosure assembly  100  has potentially been opened and is unsafe to handle. 
     In many embodiments, the second arm  162  may extend opposite the first arm  160  and may at least partially surround the second flanged end  110  and the body  124  of the closure bolt  120 . For example, the second arm  162  may include an axial portion  174  and a radial portion  176 . Particularly, the axial portion  174  of the second arm  162  may extend from the mid-body portion  158 , along the second flanged end  110  of the lid ring  106 , to the radial portion  176  of the second arm  162 . As shown, the radial portion  176  of the second arm  162  may be generally perpendicular to the axial portion  174  of the second arm  162  and may contact the second flanged end  110 . In exemplary embodiments, the second flanged end  110 , the first flanged end  108 , and the head  122  of the bolt may be disposed between the radial wall  168  of the first arm  160  and the radial portion  176  of the second arm  162 , in order to prevent removal of the closure bolt  120  when the tamper-indicating assembly  150  is coupled to the drum enclosure assembly  100 . In various embodiments, the radial portion  176  of the second arm  162  may be generally U-shaped and may at least partially surround the body  124  of the closure bolt  120 . For example, the U-shaped radial portion  176  of the second arm  162  allows the tamper-indicating device  152  to securely couple to the drum enclosure assembly  100  regardless of the excess length of the body  124  of the closure bolt  120  extending from the second flanged end  110  of the lid ring  106 . Additionally, the radial portion  176  of the second arm  162  may extend along the second flanged end  110  of the lid ring  106 , such that movement (or an attempted removal) of the closure bolt  120  would result in the head  122  of the closure bolt  120  engaging the radial wall  168 , and in turn, the radial portion  176  of the second arm  162  engaging the second flanged end  110  of the lid ring  106 . 
     As shown and described above, the tamper-indicating device  152  may be generally U-shaped. For example, the mid-body portion  158  of the tamper-indicating device  152  may further include a first side wall  178 , a second side wall  180  extending generally parallel to the first side wall  178 , and an end wall  182  extending between the first side wall  178  and the second side wall  180 . Particularly, the mid-body portion  158  of the tamper-indicating device  152  may be disposed between the first flanged end  108  and the second flanged end  110  of the lid ring  106 , and the mid-body portion  158  may at least partially surround the body  124  of the closure bolt  120 . For example, the first side wall  178  may extend on a first side of the body  124  of the closure bolt  120 , and the second side wall  180  may extend generally parallel to the second side wall  180  on an opposite side of the body  124  of the closure bolt  120 . In this way, the body  124  of the closure bolt  120  may extend between the first side wall  178  and the second side wall  180 . The end wall  182  may be curved in some embodiments (or may be straight in other embodiments) and may extend between the first side wall  178  and the second side wall  180 . 
     As shown in  FIGS.  6  and  8   , the tamper-indicating device  152  may further define a bore  184 , and the pin  154  may be inserted into the bore  184  to couple the tamper-indicating assembly  150  to the drum enclosure assembly  100 . For example, the bore  184  may be a drilled hole or aperture having a generally cylindrical shape that extends at least partially through the tamper-indicating device  152 . In particular embodiments, the bore  184  may be defined in the mid-body portion  158  of the tamper-indicating assembly  150 . Particularly, the bore  184  may include a first portion  186  defined in the first side wall  178  of the mid-body portion  158  and a second portion  188  defined in the second side wall  180  of the mid-body portion  158 . The first portion  186  and the second portion  188  of the bore  184  may be coaxially aligned (such that the center point of the holes is along a common axis). As shown, once the pin  154  is inserted into the bore  184 , the tip  185  of the pin  154  may be disposed within the second portion  188  of the bore  184 , and the pin head  190  may be disposed in the first portion  186  of the bore  184 . In various implementations, the pin  154  may extend through the first side wall  178 , across the cavity  156 , and into the second side wall  180 . For example, in many embodiments, the pin  154  may include a pin head  190  and a pin body  192  extending from the pin head  190  to the tip  185 . Particularly, the pin head  190  may be disposed in the first side wall  178  (e.g., within the first portion  186  of the bore  184 ), the pin body  192  may extend across the cavity  156  and into the second side wall  180  (e.g., within the second portion  188  of the bore  184 ), and the pin  154  may terminate at the tip  185  within the second portion  188  of the bore  184 . In various embodiments, one or both of the pin  154  and/or the bore  184  may include threads. For example, the pin  154  may define external threads of the pin body  192 , and the bore  184  may define internal threads corresponding to the external threads of the pin  154 . 
     As shown in  FIG.  8   , the pin  154  and/or tamper-indicating device  152  may include one or more retention features that prevent removal of the pin  154  from the tamper-indicating device  152  without destruction of either the pin  154  and/or the tamper-indicating device  152 . For example, the bore  184  may further include an annular retention wall  196 , and the pin  154  may include a fin  198  that engages the annular retention wall  196  upon removal from the bore  184 . In many embodiments, the fin  198  may extend from the pin head  190  of the pin  154  towards the annular retention wall  196 . As shown, the annular retention wall  196  may extend radially inward generally perpendicularly with respect to an axial centerline  213  of the pin  154  ( FIG.  8   ). The fin  198  may extend radially outwardly from the pin head  190  at an angle, such that the pin head  190  may be inserted into the bore  184  but not removed without destroying the fin  198  and/or the annular retention wall  196 . In this way, the pin  154  may be non-removably coupled to the tamper-indicating device  152 , such that once the pin  154  is inserted into the bore  184  and the fin  198  engages the annular retention wall  196 , the pin  154  may not be removed without destruction thereof. In exemplary implementations, the fin  198  may extend radially outwardly from the pin head  190 , and the annular retention wall  196  may be in the first portion  186  of the bore  184  (e.g., defined by the first side wall  178  of the mid-body portion  158  of the tamper-indicating device  152 ). 
     In many implementations, the tamper-indicating assembly  150  may be applied to the drum enclosure assembly  100  entirely autonomously or robotically (e.g., via a robotic system  200 ). In such implementations, the robotic system  200  may be capable of movement and/or rotation in all directions (e.g., six degrees of freedom) to translate and/or rotate the components of the tamper-indicating assembly  150  during the application thereof onto a drum enclosure assembly  100 . For example, the robotic system  200  may include one or more actuators, motors, or other suitable structure to facilitate the movement thereof. Additionally, the robotic system  200  may include one or more systems configured to interact with elements of the tamper-indicating assembly  150 , and the one or more systems may each be in operable communication with a controller. Specifically, the robotic system  200  may include a gripping assembly  202  having gripper arms  204  configured to couple to the tamper-indicating device  152 , and the controller may be in operable communication (e.g., wired or wireless electrical communication) with the gripping assembly  202  to actuate the gripper arms  204  between an open position and a closed position. Additionally, the robotic system  200  may include an actuator  206  (such as an electric actuator, hydraulic actuator, pneumatic actuator, or other suitable actuator that provides for linear movement) configured to couple to the pin  154 , and the actuator  206  may be in operable communication with the controller to adjust a linear position of the pin  154 . The actuator  206  may include a rod  208  and a housing  210 , and the rod  208  may be linearly movable relative to the housing  210  based on a signal received from the controller. 
     Referring particularly to the operation of the controller  116 , in at least certain embodiments, the controller  116  can include one or more computing device(s)  118 . The computing device(s)  118  can include one or more processor(s)  118 A and one or more memory device(s)  118 B. The one or more processor(s)  118 A can include any suitable processing device, such as a microprocessor, microcontroller, integrated circuit, logic device, and/or other suitable processing device. The one or more memory device(s)  118 B can include one or more computer-readable media, including, but not limited to, non-transitory computer-readable media, RAM, ROM, hard drives, flash drives, and/or other memory devices. 
     The one or more memory device(s)  118 B can store information accessible by the one or more processor(s)  118 A, including computer-readable instructions  118 C that can be executed by the one or more processor(s)  118 A. The instructions  118 C can be any set of instructions that, when executed by the one or more processor(s)  118 A, cause the one or more processor(s)  118 A to perform operations. In some embodiments, the instructions  118 C can be executed by the one or more processor(s)  118 A to cause the one or more processor(s)  118 A to perform operations, such as any of the operations and functions for which the controller  116  and/or the computing device(s)  118  are configured, the operations for operating the robotic system  200 , as described herein, and/or any other operations or functions of the one or more computing device(s)  118 . The instructions  118 C can be software written in any suitable programming language or can be implemented in hardware. Additionally, and/or alternatively, the instructions  118 C can be executed in logically and/or virtually separate threads on processor(s)  118 A. 
     In exemplary embodiments, the tamper-indicating assembly  150  may include features that enable the tamper-indicating assembly  150  to be applied via a robotic system  200  (such as the robotic system  200  described herein). This may advantageously increase the production turnaround time and reduce exposure to the potentially harmful (e.g., radioactive) contents to be housed in the drum enclosure assembly  100 . For example, in many embodiments, the tamper-indicating device  152  may include a tab  140  that extends radially outward from the tamper-indicating device  152  with respect to an axial centerline  170  of the tamper-indicating assembly  150 . The tab  140  may enable the tamper-indicating device  152  to be gripped (or held) by the robotic system  200  (e.g., via the gripping assembly  202  of the robotic system  200 ). For example, the gripper arms  204  of the gripping assembly  202  may pick up (or couple to) to the tab  140  of the tamper-indicating device  152  when in a closed position, and the gripper arms  204  of the gripping assembly  202  may release the tab  140  of the tamper-indicating device  152  when in an open position. 
     Particularly, the tab  140  may extend from the tamper-indicating device  152  at an angle, in order to allow the robotic system  200  to approach and apply the tamper-indicating device  152  to the drum enclosure assembly  100  without striking the drum enclosure assembly  100 , and in order to leave sufficient space for the pin  154  to be inserted by the actuator  206  of the robotic system  200 . For example, the tab  140  may be generally oblique to an axial centerline  172  of the drum enclosure assembly  100  in order to facilitate application of the tamper-indicating assembly  150  via the gripping assembly  202  of the robotic system  200 . In many embodiments, the tab  140  may form an angle with the axial centerline  172  of the drum enclosure assembly  100  that is between about 10° and about 80°, or such as between about 15° and about 70°, or such as between about 20° and about 60°, or such as between about 25° and about 50°. 
     In exemplary embodiments, as shown, the tab  140  may extend from the mid-body portion  158  of the tamper-indicating device  152 . However, in other embodiments (not shown), the tab  140  may extend from one of the first arm  160  or the second arm  162 . In particular, the tab  140  may extend from the end wall  182  of the mid-body portion  158  away from the pin  154 . For example, the tab  140  may extend from an opposite side of the end wall  182  as the first side wall  178  and the second side wall  180  (but along the same direction). In this way, the first side wall  178  and second side wall  180  may extend from the end wall  182  towards the body  124  of the closure bolt  120 , and the tab  140  may extend from the end wall  182  away from the body  124  of the closure bolt  120 . 
     Additionally, the tab  140  may define a recessed surface  142 . For example, the recessed surface  142  may extend generally axially with respect to the axial centerline  170  of the tamper-indicating assembly  150 . More particularly, the tab  140  may be shaped generally as a rectangular prism having mostly planar (or flat) sides and extending radially from the mid-body portion  158  of the tamper-indicating device  152 , and at least one of the surfaces of the tab  140  may include the recessed surface  142  (e.g., sunken or otherwise defining a cavity  156  within the tab  140 ). In exemplary implementations, one of the gripper arms  204  of the gripping assembly  202  may extend into the recessed surface  142  when coupling to the tab  140  of the tamper-indicating device  152 . 
     In many embodiments, the pin  154  may be oriented generally perpendicular (e.g., within ±30° of perpendicular, or such as within ±20° of perpendicular, or such as ±10° of perpendicular) to the tab  140 . This may enable the pin  154  to be inserted into the bore  184  via the actuator  206  of the robotic system  200  without being impeded by other elements of the drum enclosure assembly  100 . Additionally, the pin head  190  may define an aperture  214  extending at least partially along an axial centerline  213  of the pin  154 . In various operational implementations, the rod  208  of the actuator  206  may include a tip  212  sized and shaped to be inserted into the pin  154  to removably couple thereto. For example, the tip  212  may couple to the aperture  214  of the pin  154 , and once the actuator  206  has inserted the pin  154  into the tamper-indicating device  152  during installation, the tip  212  may slide out of the aperture  214  to decouple from the pin  154 . 
     Referring now to  FIG.  9   , a flow diagram of one embodiment of a method  900  of applying a tamper-indicating assembly  150  to a drum enclosure using a robotic system  200  is illustrated in accordance with aspects of the present subject matter. In general, the method  900  will be described herein with reference to the tamper-indicating assembly  150 , the drum enclosure assembly  100 , and the robotic system  200  described above. Additionally, although  FIG.  9    depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure. 
     In exemplary embodiments, the method  900  may include a step  902  of gripping a tab  140  of the tamper-indicating device  152  with a gripping assembly  202  of the robotic system  200 . For example, the gripping assembly  202  may include gripper arms  204  configured to move between an open position and a closed position based on a signal received from the controller. The gripper arms  204  may be moved into a position proximate to the tab  140  in an open position and may subsequently be actuated to a closed position to couple to the tab  140  of the tamper-indicating device  152 . In this way, the gripping assembly  202  may be used for holding or coupling to the tamper-indicating device  152  in order to subsequently move and apply (e.g., install) the tamper-indicating device  152  onto the drum enclosure assembly  100 . 
     In many embodiments, the method  900  may further include a step  904  of positioning (e.g., by translating and/or rotating the gripping assembly  202  of the robotic system  200 ) the tamper-indicating device  152  such that it at least partially surrounds the closure bolt  120  by moving the gripping assembly  202  with the robotic system  200 . As discussed above, the tamper-indicating device  152  may define a cavity  156  sized to receive at least a portion of the closure bolt  120  and a bore  184 . The robotic system  200  may translate and/or rotate the tamper-indicating device  152  (e.g., by translating and/or rotating the gripping assembly  202 ) relative to the drum enclosure assembly  100  to a position in which at least a portion of the first flanged end  108 , the second flanged end  110 , and the closure bolt  120  are disposed within the cavity  156  (such as the position of the tamper-indicating assembly  150  shown in  FIGS.  4  through  7   ). For example, step  904  may optionally include positioning the first arm  160  of the tamper-indicating device such that it at least partially surrounds the first flanged end  108  and the head  122  of the closure bolt  120 . Additionally, or alternatively, step  904  may optionally include positioning the second arm  162  of the tamper-indicating device  152  such that the second arm  162  at least partially surrounds the second flanged end  110  and the body  124  of the closure bolt  120 . 
     In various embodiments, the method  900  may further include a step  906  of inserting a pin  154  with an actuator  206  of the robotic system  200  into the bore  184  and across the cavity  156  such that the pin  154  and the tamper-indicating device  152  collectively surround the closure bolt  120 . For example, the pin  154  may be removably attached to the rod  208  of the actuator  206  via a tip  212  inserted into an aperture  214  defined by the pin head  190 , such that the pin  154  is linearly movable with the rod  208  of the actuator  206 . Once the tamper-indicating device  152  is moved into position by the robotic system  200  and/or gripping assembly  202 , the actuator  206  may linearly move the pin  154  into the bore  184  until the fin  198  on the pin head  190  is beyond the annular retention wall  196  defined by the bore  184  (i.e., until the fin  198  engages the annular retention wall  196 ). At which point, the rod  208  of the actuator  206  may be removed from the pin  154  by linearly moving the rod  208  away from the tamper-indicating device  152 , which will cause the fin  198  to contact the annular retention wall  196 , and in turn, cause the tip  212  of the rod  208  to slide out of the aperture  214 . 
     This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.