ASTM C1554-18(2023)

Standard Guide for Materials Handling Equipment for Hot Cells

SIGNIFICANCE AND USE
4.1 Materials handling equipment operability and long-term integrity are concerns that originate during the design and fabrication sequences. Such concerns are most efficiently addressed during one or the other of these stages. Equipment operability and integrity can be compromised during handling and installation sequences. For this reason, the subject equipment should be handled and installed under closely controlled and supervised conditions.  
4.2 This guide is intended as a supplement to other standards (Section 2, Referenced Documents), and to federal and state regulations, codes, and criteria applicable to the design of equipment intended for this use.  
4.3 This guide is intended to be generic and to apply to a wide range of types and configurations of materials handling equipment.  
4.4 The term materials handling equipment is used herein in a generic sense. It includes manipulators, cranes, carts or bogies, and special equipment for handling tools and material in hot cells.  
4.5 This service imposes stringent requirements on the quality and the integrity of the equipment, as follows:  
4.5.1 Boots and similar protective covers should not restrict movement of the equipment, should be properly sealed to the equipment and should withstand the radiation, cell atmosphere, dust, cell temperatures, chemical exposures, and cleaning and decontamination reagents, and also resist snags and tearing.  
4.5.2 Materials handling equipment should be capable of withstanding rigorous chemical cleaning and decontamination procedures.  
4.5.3 Materials handling equipment should be designed and fabricated to remain dimensionally stable throughout its life cycle.  
4.5.4 Attention to fabrication tolerances is necessary to allow the proper fit-up between components for the proper installation and mounting of materials handling equipment in hot cells, for example, when parts or components are being replaced. Fabrication tolerances should be controlled to provide sufficie...
SCOPE
1.1 Intent:  
1.1.1 This guide covers materials handling equipment used in hot cells (shielded cells) for the processing and handling of nuclear and radioactive materials. The intent of this guide is to aid in the selection and design of materials handling equipment for hot cells in order to minimize equipment failures and maximize the equipment utility.  
1.1.2 It is intended that this guide record the principles and caveats that experience has shown to be essential to the design, fabrication, installation, maintenance, repair, replacement, and decontamination and decommissioning of materials handling equipment capable of meeting the stringent demands of operating, dependably and safely, in a hot cell environment where operator visibility is limited due to the radiation exposure hazards.  
1.1.3 This guide may apply to materials handling equipment in other radioactive remotely operated facilities such as suited entry repair areas and canyons, but does not apply to materials handling equipment used in commercial power reactors.  
1.1.4 This guide covers mechanical master-slave manipulators and electro-mechanical manipulators, but does not cover electro-hydraulic manipulators.  
1.2 Applicability:  
1.2.1 This guide is intended to be applicable to equipment used under one or more of the following conditions:
1.2.1.1 The materials handled or processed constitute a significant radiation hazard to man or to the environment.
1.2.1.2 The equipment will generally be used over a long-term life cycle (for example, in excess of two years), but equipment intended for use over a shorter life cycle is not excluded.
1.2.1.3 The equipment can neither be accessed directly for purposes of operation or maintenance, nor can the equipment be viewed directly, for example, without shielded viewing windows, periscopes, or a video monitoring system.  
1.3 User Caveats:  
1.3.1 This standard is not a substitute for applied engin...

General Information

• Status: Published
• Publication Date: 31-Jan-2023
• ICS: 27.120.30 - Fissile materials and nuclear fuel technology
• Technical Committee: C26 - Nuclear Fuel Cycle
• Drafting Committee: C26.14 - Remote Systems

Relations

• Refers: ASTM C859-24 - Standard Terminology Relating to Nuclear Materials
• Effective Date: 01-Jan-2024
• Refers: ASTM C1661-23 - Standard Guide for Viewing Systems for Remotely Operated Facilities
• Effective Date: 01-Oct-2023
• Refers: ASTM C1217-00(2020) - Standard Guide for Design of Equipment for Processing Nuclear and Radioactive Materials
• Effective Date: 01-Jul-2020
• Refers: ASTM C1661-18 - Standard Guide for Viewing Systems for Remotely Operated Facilities
• Effective Date: 01-Nov-2018
• Refers: ASTM C1572/C1572M-17 - Standard Guide for Dry Lead Glass and Oil-Filled Lead Glass Radiation Shielding Window Components for Remotely Operated Facilities
• Effective Date: 01-Aug-2017
• Refers: ASTM C859-14a - Standard Terminology Relating to Nuclear Materials
• Effective Date: 15-Jun-2014
• Refers: ASTM C859-14 - Standard Terminology Relating to Nuclear Materials
• Effective Date: 15-Jan-2014
• Refers: ASTM C859-13a - Standard Terminology Relating to Nuclear Materials
• Effective Date: 01-Jun-2013
• Refers: ASTM C859-13 - Standard Terminology Relating to Nuclear Materials
• Effective Date: 01-May-2013
• Refers: ASTM C1661-13 - Standard Guide for Viewing Systems for Remotely Operated Facilities
• Effective Date: 01-Jan-2013
• Refers: ASTM C1217-00(2012) - Standard Guide for Design of Equipment for Processing Nuclear and Radioactive Materials
• Effective Date: 01-Jun-2012
• Refers: ASTM C859-10b - Standard Terminology Relating to Nuclear Materials
• Effective Date: 01-Nov-2010
• Refers: ASTM C859-10a - Standard Terminology Relating to Nuclear Materials
• Effective Date: 01-Aug-2010
• Refers: ASTM C859-10 - Standard Terminology Relating to Nuclear Materials
• Effective Date: 01-Feb-2010
• Refers: ASTM C859-09 - Standard Terminology Relating to Nuclear Materials
• Effective Date: 15-Feb-2009

Overview

ASTM C1554-18(2023), titled “Standard Guide for Materials Handling Equipment for Hot Cells,” is a guideline developed by ASTM International. This standard addresses the selection, design, fabrication, installation, operation, maintenance, and decommissioning of materials handling equipment in hot cells, crucial for the safe processing and handling of nuclear and radioactive materials. Hot cells are shielded environments designed to limit direct human access and exposure to radiation, relying on remotely operated equipment for material handling functions. The guidance presented in ASTM C1554 ensures equipment utility, minimizes operational failures, and supports the stringent requirements of radiation-controlled environments.

Key Topics

• Scope and Intent

  • Focuses on equipment used in hot cells for nuclear and radioactive material handling.
  • Applies to manipulators, cranes, bogies, and specialized handling tools.
  • Aids designers and facility operators in minimizing failures and maximizing operational reliability.

• Design and Fabrication Principles

  • Emphasizes addressing equipment operability and long-term integrity during the design and fabrication stages.
  • Covers the importance of proper material selection, such as corrosion resistance and radiation durability.
  • Highlights precise fabrication tolerances for optimal fit and remote handling.

• Operational and Environmental Considerations

  • Details unique requirements for materials handling equipment exposed to radiation, high temperatures, caustic chemicals, and rigorous cleaning and decontamination procedures.
  • Underscores controlled installation and handling to prevent damage and ensure longevity.
  • Encourages preventive maintenance and documentation for ongoing operational improvements.

• Types of Materials Handling Equipment

  • Includes mechanical master-slave manipulators, electro-mechanical manipulators (excluding electro-hydraulic types), cranes, and proprietary devices for remote material movement within hot cells.
  • Requires adaptability to indirect operation-using shielded viewing windows, periscopes, or video systems due to limited operator visibility.

Applications

ASTM C1554-18(2023) is essential in facilities where radioactive or nuclear materials are processed under strict containment. Typical applications include:

• Nuclear Research and Radiological Labs: Enabling safe handling, transfer, and maintenance of hazardous materials where direct manual intervention is not possible.
• Medical Radioisotope Production: Managing the precise movement and containment of radiopharmaceuticals within shielded environments.
• Nuclear Waste Management: Facilitating the remote operation and maintenance of equipment in facilities storing or processing radioactive waste.
• Remote Maintenance Areas: Supporting equipment in hot cells, canyons, or repair spaces that cannot be directly accessed due to radiation hazards.

This standard is applicable across multiple facility life cycles-including commissioning, operation, maintenance, repair, decontamination, and decommissioning-where remote material handling and strict equipment integrity are critical. It also provides valuable guidance for improving the safety, reliability, and maintainability of existing hot cell operations.

Related Standards

The guidance in ASTM C1554-18(2023) is supplementary and should be used alongside other international, national, and industry standards for hot cell and nuclear facility equipment, such as:

• ASTM C1217: Guide for Equipment Design for Processing Nuclear and Radioactive Materials
• ASTM C1533: General Design Considerations for Hot Cell Equipment
• ASTM C859: Terminology Relating to Nuclear Materials
• ANS 8.1: Nuclear Criticality Safety in Operations with Fissile Materials Outside Reactors
• ASME NQA-1: Quality Assurance Requirements for Nuclear Facility Applications
• ISO 9001: Quality Management Systems Requirements
• ANSI B30.2: Overhead and Gantry Cranes
• OSHA 29CFR1910: Occupational Safety and Health Standards

These documents, along with federal and state regulations, help ensure that materials handling equipment in hot cells meets rigorous safety, quality, and performance requirements.

Keywords: ASTM C1554, hot cells, materials handling equipment, nuclear materials, radioactive materials, remote operation, master-slave manipulators, cranes, decontamination, radiation protection, nuclear facility safety.

Standards Content (Sample)

This international standard was developed in accordance with internationally recognized principles on standardization established in the Decision on Principles for the
Development of International Standards, Guides and Recommendations issued by the World Trade Organization Technical Barriers to Trade (TBT) Committee.
Designation: C1554 − 18 (Reapproved 2023)
Standard Guide for
Materials Handling Equipment for Hot Cells
This standard is issued under the fixed designation C1554; the number immediately following the designation indicates the year of
original adoption or, in the case of revision, the year of last revision. A number in parentheses indicates the year of last reapproval. A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope 1.3.1 This standard is not a substitute for applied engineer-
ing skills, proven practices and experience. Its purpose is to
1.1 Intent:
provide guidance.
1.1.1 This guide covers materials handling equipment used
1.3.1.1 The guidance set forth in this standard relating to
in hot cells (shielded cells) for the processing and handling of
nuclear and radioactive materials. The intent of this guide is to design of equipment is intended only to alert designers and
aid in the selection and design of materials handling equipment engineers to those features, conditions, and procedures that
for hot cells in order to minimize equipment failures and
have been found necessary or highly desirable to the design,
maximize the equipment utility.
selection, operation and maintenance of reliable materials
1.1.2 It is intended that this guide record the principles and
handling equipment for the subject service conditions.
caveats that experience has shown to be essential to the design,
1.3.1.2 The guidance set forth results from discoveries of
fabrication, installation, maintenance, repair, replacement, and
conditions, practices, features, or lack of features that were
decontamination and decommissioning of materials handling
found to be sources of operational or maintenance problems, or
equipment capable of meeting the stringent demands of
causes of failure.
operating, dependably and safely, in a hot cell environment
1.3.2 This standard does not supersede federal or state
where operator visibility is limited due to the radiation expo-
regulations, or both, or codes applicable to equipment under
sure hazards.
any conditions.
1.1.3 This guide may apply to materials handling equipment
in other radioactive remotely operated facilities such as suited 1.3.3 This standard does not cover design features of the hot
entry repair areas and canyons, but does not apply to materials
cell, for example, windows, drains, and shield plugs. This
handling equipment used in commercial power reactors. standard does not cover pneumatic or hydraulic systems. Refer
1.1.4 This guide covers mechanical master-slave manipula-
to Guides C1533, C1217, and ANS Design Guides for Radio-
tors and electro-mechanical manipulators, but does not cover
active Material Handling Facilities & Equipment for informa-
electro-hydraulic manipulators.
tion and references to design features of the hot cell and other
hot cell equipment.
1.2 Applicability:
1.2.1 This guide is intended to be applicable to equipment
1.3.4 This standard does not purport to address all of the
used under one or more of the following conditions:
safety concerns, if any, associated with its use. It is the
1.2.1.1 The materials handled or processed constitute a
responsibility of the user of this standard to establish appro-
significant radiation hazard to man or to the environment.
priate safety, health, and environmental practices, and deter-
1.2.1.2 The equipment will generally be used over a long-
mine the applicability of regulatory limitations prior to use.
term life cycle (for example, in excess of two years), but
1.4 This international standard was developed in accor-
equipment intended for use over a shorter life cycle is not
dance with internationally recognized principles on standard-
excluded.
ization established in the Decision on Principles for the
1.2.1.3 The equipment can neither be accessed directly for
Development of International Standards, Guides and Recom-
purposes of operation or maintenance, nor can the equipment
mendations issued by the World Trade Organization Technical
be viewed directly, for example, without shielded viewing
Barriers to Trade (TBT) Committee.
windows, periscopes, or a video monitoring system.
1.3 User Caveats:
2. Referenced Documents
2.1 Industry and National Consensus Standards—
This guide is under the jurisdiction of ASTM Committee C26 on Nuclear Fuel Nationally recognized industry and consensus standards appli-
Cycle and is the direct responsibility of Subcommittee C26.14 on Remote Systems.
cable in whole or in part to the design, fabrication, and
Current edition approved Feb. 1, 2023. Published February 2023. Originally
installation of equipment are referenced throughout this guide
approved in 2003. Last previous edition approved in 2018 as C1554 – 18. DOI:
10.1520/C1554-18R23. and include, but are not limited to, the following:
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959. United States
C1554 − 18 (2023)
2.2 ASTM Standards: 3. Terminology
C859 Terminology Relating to Nuclear Materials
3.1 Definitions:
C1217 Guide for Design of Equipment for Processing
3.1.1 The terminology employed in this guide conforms
Nuclear and Radioactive Materials
with industry practice insofar as practicable.
C1533 Guide for General Design Considerations for Hot
3.1.2 For definitions of general terms used to describe hot
Cell Equipment
cells and hot cell equipment, refer to Terminology C859, and
C1572/C1572M Guide for Dry Lead Glass and Oil-Filled
Guide C1533.
Lead Glass Radiation Shielding Window Components for
3.1.3 bogie—a bogie is a small cart used to move material,
Remotely Operated Facilities
supplies and small tools into, out of and within a hot cell.
C1615/C1615M Guide for Mechanical Drive Systems for
3.1.4 boot—boot in this context refers to a flexible covering
Remote Operation in Hot Cell Facilities
over equipment including a manipulator to protect it from
C1661 Guide for Viewing Systems for Remotely Operated
radioactive contamination.
Facilities
3.1.4.1 Discussion—The boot may also protect the equip-
2.3 Other Standards:
ment or manipulator from acid, caustic solutions and abrasive
AAI A14.3 Ladders, Fixed Safety Requirements, OSHA
powders.
ANS 8.1 Nuclear Criticality Safety in Operations with Fis-
sile Materials Outside Reactors
3.1.5 Cartesian coordinate system—a three-dimensional co-
ANS Design Guides for Radioactive Material Handling
ordinate system in which the coordinates of a point in space are
Facilities & Equipment, ISBN: 0-89448-554-7
its distances from each of three intersecting, mutually
ASSE SA/SAFE Ladders, Fixed Safety Requirements,
perpendicular, planes along lines parallel to the intersection of
OSHA
the other two. Usually referred to as X, Y, and Z.
ANSI B30.2 Overhead and Gantry Cranes
3.1.6 coordinated control—control of a manipulator that
ASME NQA 1 Quality Assurance Requirements for Nuclear
allows multiple axes of the manipulator to be automatically
Facility Applications
controlled to achieve a special motion of the wrist or end
ASME NOG-1 Rules for Construction of Overhead Gantry
effector. These motions can be straight-line motion of the wrist
Cranes (Top-Running Bridge, Multiple Girder)
or end effector, rotation about a point, movement in Cartesian
ISO/TC 85/SC 2 N 637 E Remote Handling Devices for
coordinates or other motions at the wrist or end effector
Radioactive Materials—Part 1 : General Requirements
requiring relative motion of more than one joint.
ISO 9001 Quality Management Systems Requirements
3.1.7 deadhead—the act of placing a force on an immovable
NEMA 250 Enclosures for Electrical Equipment 1000 Volts
object or component.
Maximum (Type 4)
NFPA 70 National Electric Code
3.1.8 electro-hydraulic manipulator—a manipulator in
2.4 Federal Regulations: which each joint, either rotary or linear, of an electro-hydraulic
10CFR50 Appendix B, Quality Assurance manipulator is operated by a hydraulic motor or hydraulic
10CFR830.120 Nuclear Safety Management Quality Assur- cylinder. Control of the flow of hydraulic fluid to the hydraulic
ance Requirements motors or cylinders to control position and speed are by
29CFR1910 Occupational Safety and Health Standards electric-controlled servo valves. Electro-hydraulic manipula-
40CFR 260-279 Solid Waste Regulations tors are primarily used in under-sea environments and are
generally not used in hot cells to date.
3.1.9 end effector—an end effector is a gripper or other
For referenced ASTM standards, visit the ASTM website, www.astm.org, or
device or tool on the end (wrist) of a slave of a master-slave or
contact ASTM Customer Service at [e-mail]. For Annual Book of ASTM
Standards volume information, refer to the standard’s Document Summary page on
power manipulator.
the ASTM website.
3.1.10 force ball—a force ball is an input device in the shape
Available from U.S. Government Printing Office Superintendent of Documents,
732 N. Capitol St., NW, Mail Stop: SDE, Washington, DC 20401, http://
of a sphere that provides signals relative to force or torques, or
www.access.gpo.gov.
both, placed on the ball by an operator. The signals are usually
Available from American Nuclear Society, 555 North Kensington Ave., La
segregated into forces and torques in different directions,
Grange Park, IL 60525, [phone].
usually Cartesian, even though the operator input is generally
Available from American National Standards Institute (ANSI), 25 W. 43rd St.,
4th Floor, New York, NY 10036, http://www.ansi.org.
in a combination of directions.
Available from American Society of Mechanical Engineers (ASME), ASME
3.1.11 force feedback—force feedback is an electrical signal
International Headquarters, Two Park Ave., New York, NY 10016-5990, http://
www.asme.org.
relative to force sensed, usually at a joint of a manipulator.
Available from International Organization for Standardization (ISO), 1, ch. de
Force feedback is commonly used to generate a force at the
la Voie-Creuse, Case postale 56, CH-1211, Geneva 20, Switzerland, http://
master that is relative to the sensed force on the end effector.
www.iso.ch.
Available from Global Engineering Documents, 15 Inverness Way, East
3.1.12 force reflection—force reflection is the perception of
Englewood, CO 80112-5704, http://www.global.ihs.com.
9 force at the master of a master-slave manipulator that is relative
Available from National Fire Protection Association (NFPA), 1 Batterymarch
Park, Quincy, MA 02169-7471, http://www.nfpa.org. to the forces applied at the end effector.
Available from U.S. Government Printing Office Superintendent of
3.1.13 hot cell, n—an isolated, shielded containment that
Documents, 732 N. Capitol St., NW, Mail Stop: SDE, Washington, DC 20401,
http://www.access.gpo.gov. provides a controlled environment and is designed to safely
C1554 − 18 (2023)
handle radioactive and typically contaminated material without 4.5.2 Materials handling equipment should be capable of
recourse to routine human access. withstanding rigorous chemical cleaning and decontamination
procedures.
3.1.13.1 Discussion—The radiation levels within a hot cell
4.5.3 Materials handling equipment should be designed and
are typically 1 Gy/h (100 rads per hour) or higher. See Guide
fabricated to remain dimensionally stable throughout its life
C1533 for more detail.
cycle.
3.1.14 moused hook—a moused hook is a lifting hook on a
4.5.4 Attention to fabrication tolerances is necessary to
crane that has a latch (mouse) across the mouth of the hook.
allow the proper fit-up between components for the proper
The latch keeps the cable, bail or other device within the hook
installation and mounting of materials handling equipment in
so that it can not accidentally slide off of the hook. The latch
hot cells, for example, when parts or components are being
is manually activated to release the cable, bail or other device
replaced. Fabrication tolerances should be controlled to pro-
from the hook. Moused hooks are not used in hot cells because
vide sufficiently loose fits where possible to aid in remote
of the inability to manually release the latch.
maintenance and replacement of equipment and components.
3.1.15 pendant—a pendant is a box with switches, buttons,
4.5.5 Fabrication materials should be resistant to radiation
other controls and sometimes a small display screen used to
damage, or materials subject to such damage should be
control equipment including manipulators and cranes. The
shielded or placed and attached so as to be readily replaceable.
pendant usually has a cable or umbilical cord to transmit
4.5.6 Smooth surface finishes are necessary for decontami-
signals from and to the pendant. Some pendants transmit and
nation reasons. Irregularities that hide and retain radioactive
receive signals over radio frequencies, so they do not require
particulates or other adherent contamination should be elimi-
an umbilical cord.
nated or minimized.
3.1.16 power manipulator—a manipulator with joints acti-
4.6 Materials handling equipment that is exposed to high
vated electrically or hydraulically. See electro-hydraulic ma-
temperatures, pressures, acidic or caustic conditions may
nipulator and electro-mechanical manipulator.
require special design considerations to be compatible with the
operating environment. Potential rates of change for tempera-
3.1.17 through-the-wall sleeve—a through-the-wall sleeve
ture and pressure as well as absolute temperature and pressure
is a pipe, open at both ends, embedded in the shield wall of a
extremes, created by activation of fire suppression systems and
hot cell into which the manipulator is inserted. A window is
other emergency systems, should be considered.
generally placed below the sleeve(s) to provide the operator a
view of the manipulator(s).
4.7 When replacing, modifying or adding additional mate-
rials handling equipment to an existing hot cell, maintenance
4. Significance and Use
records of materials handling equipment in that hot cell or in a
hot cell having a similar processing mission may be available
4.1 Materials handling equipment operability and long-term
for reference. These records may offer valuable insight with
integrity are concerns that originate during the design and
regard to the causes, frequency, and type of failure experienced
fabrication sequences. Such concerns are most efficiently
for the type and class of equipment being designed and
addressed during one or the other of these stages. Equipment
engineered, so that improvements can be made in the new
operability and integrity can be compromised during handling
equipment.
and installation sequences. For this reason, the subject equip-
ment should be handled and installed under closely controlled
4.8 Preventive maintenance based on previous experience in
and supervised conditions. similar environments and similar duty should be performed to
prevent unscheduled repair of failed components.
4.2 This guide is intended as a supplement to other stan-
dards (Section 2, Referenced Documents), and to federal and
5. Quality Assurance and Quality Requirements
state regulations, codes, and criteria applicable to the design of
5.1 The owner-operator should administer a quality assur-
equipment intended for this use.
ance program approved by the agency of jurisdiction. QA
4.3 This guide is intended to be generic and to apply to a
programs may be required to comply with 10CFR50 Appendix
wide range of types and configurations of materials handling
B, 10CFR830.120 Subpart A, ASME NQA-1, or ISO 9001.
equipment.
5.2 The owner-operator should require appropriate quality
4.4 The term materials handling equipment is used herein in
assurance of purchased materials handling equipment and
a generic sense. It includes manipulators, cranes, carts or
components to assure proper fit up, operation and reliability of
bogies, and special equipment for handling tools and material
the equipment in the hot cell.
in hot cells.
6. General Requirements
4.5 This service imposes stringent requirements on the
quality and the integrity of the equipment, as follows:
6.1 Design Caveat:
4.5.1 Boots and similar protective covers should not restrict 6.1.1 Only the minimum amount of materials handling
movement of the equipment, should be properly sealed to the equipment should be placed in a hot cell to allow safe and
equipment and should withstand the radiation, cell atmosphere, efficient operation. Unnecessary materials handling equipment
dust, cell temperatures, chemical exposures, and cleaning and in a cell adds to the cost of operating and maintaining the cell
decontamination reagents, and also resist snags and tearing. and add to the eventual decontamination and disposal costs of
C1554 − 18 (2023)
equipment in the cell. A thorough review of the materials 11.1.1 Safeguards and procedures should be used with hot
handling equipment necessary to perform the hot cell opera- cell material handling equipment to avoid nuclear criticality.
tions should be performed prior to introducing radioactive See ANS 8.1.
materials into a new hot cell.
11.1.2 Manipulators and cranes, like other hot cell
6.1.2 All hot cell equipment should be handled with ex-
equipment, are subject to radiation damage effects and con-
treme care using the materials handling equipment during
tamination. Since decontamination and maintenance work is
transfer handling and installation sequences to ensure against
generally carried out remotely or by personnel working in
collision damage.
anti-contamination clothing with respiratory protection, the
6.1.3 Installation sequences should be planned and se-
work is tedious, awkward, and time consuming, which can
quenced so that other equipment is not handled above and
produce significant radiation dose. The materials handling
around previously installed components to the extent practi-
equipment covered in this section should be designed and
cable.
fabricated to accommodate fast, simple cleanup routines, so
that component repair or changeout procedures are simplified.
7. Materials of Construction
In addition, the use of wash-down rated components should be
7.1 General Considerations for Metals and Alloys:
considered.
7.1.1 It is desirable that corrosion resistant alloys or metals
11.1.3 Where practicable, crane and manipulator compo-
be used for all material handling equipment in this service. The
nents should be modular in design. In the case of cranes, the
advantages of corrosion resistant alloys or metals should be
hoist motor should be designed to be easily removable from the
considered against their increased cost and availability. Refer
trolley so that it can be repaired in an area with lower radiation
to Materials of Construction in Guide C1533.
fields. The in-cell portion of the master-slave manipulators
7.1.2 In many cases, it is not possible to substitute a
should also be removable so that they can be repaired in a
corrosion resistant metal for one that is not corrosion resistant,
glovebox with lower radiation fields.
such as in the case of structural members or commercial
11.1.4 Through-the-wall manipulators are operated by
components. Consideration should be given to painting those
means of a direct mechanical linkage between the master and
items. Refer to Guide C1533.
the slave ends. They are operated from behind a shield wall or
7.2 General Considerations for Plastics and Other Materi-
confinement barrier. Since part of the manipulator is outside
als:
the cell, this type of manipulator does not come under the strict
7.2.1 Plastics, elastomers, oils, grease, resins, bonding
definition of “equipment mounted in the hot cell environment,”
agents, solid-state devices, wire insulation, thermal insulation
however, this type of manipulator is included in the scope of
materials, paints, coatings, and other materials are subject to
this guide.
radiation damage and possible abrupt failure. Not all such
11.1.5 Reliance on the use of master-slave manipulators or
materials and components can be excluded from service in the
any other type of manipulator to bring about or maintain a safe
subject environment. Their use should be carefully considered.
condition in the hot cell is not recommended. This requires
Refer to Guide C1533.
having an operable manipulator available on a full-time basis.
Manipulators should not be used under conditions that would
8. Equipment
require their use to initiate, execute, or control equipment or
8.1 Materials handling equipment should be designed or
operations that are vital to the safe operation of the facilities in
modified in a way that will extend the service life of the
the hot cell.
equipment, reduce failures, and improve maintainability. The
11.1.6 Electrical design constraints and precautions or sug-
installation position, the orientation, and the attachment meth-
gestions related to viewing capabilities for materials handling
ods should be such as to simplify removal and replacement of
equipment as covered in subsequent sections are generally
mechanical equipment susceptible to periodic or unpredictable
applicable to either a crane or a carriage-mounted manipulator
failure or outage.
installation.
11.1.7 The use of limit switches and bumpers provides the
9. Mechanical Equipment
means of setting limits for the movement of materials handling
9.1 Specific mechanical equipment is covered in Section 11
system components.
of this standard guide.
11.1.8 Computer program instructions incorporated in the
crane or manipulator control system are another means of
10. Instrumentation
limiting the movement of materials handling system compo-
10.1 Where practical and beneficial, equipment used for
nents. Crane hooks or manipulator arms can be excluded from
handling nuclear and radioactive materials should be equipped
areas where collisions with or damage to other equipment may
with instrument sensor components, circuitry, readout, control,
occur. The ability to override such pre-programmed limits
and alarm elements that allow continuous and precise moni-
should be provided, but only under controlled and supervised
toring and control of the material handling operation.
conditions. Software limits are not as reliable as hard stops, and
are generally incorporated in addition to hard stops to prevent
11. Materials and Equipment Handling/Transport
routine use of the hard stops.
Facilities
11.1 General: 11.2 Mechanical Master-Slave Manipulators:
C1554 − 18 (2023)
11.2.1 Mechanical master-slave manipulators are operated
by means of a direct mechanical linkage between the master
and the slave ends. They are operated from behind a shield wall
or confinement barrier. Note that these manipulators can be
removed for maintenance or, when required, replaced in their
entirety except for the through-the-wall sleeves.
11.2.2 Through-the-wall and over-the-wall mechanical
master-slave manipulators are usually installed side-by-side as
a set of two. Multiple sets of this type of manipulator are used
to obtain the volumetric coverage required in large hot cells.
These manipulators are suited to dexterous handling operations
in experimental and laboratory facilities that cannot be accom-
plished in any other fashion. They are often used in conjunction
with batch processing operations involving nuclear or radioac-
tive materials in particulate, granular, or solid form, or when
FIG. 2 Typical Mechanical Master-Slave Manipulator
processing steps are conducted in small scale equipment and
the process requires physical handling and transfer operations.
Because of their dexterity, mechanical master-slave manipula-
tors are also used in large process cells for handling operations,
operation and maintenance of in-cell equipment and in han-
dling rigging for in-cell cranes. These manipulators inherently
provide some degree of force and torque feedback to the
operator. Depending on operator proficiency, these manipula-
tors can be used to perform complex, delicate and precise
material handling operations.
11.2.3 Mechanical master-slave manipulators typically use
metal tapes or cables to link the master to the slave. The tapes
and cables can have long life, but can fail due to fatigue after
extended usage, or may fail prematurely due to misuse. Misuse
is commonly lifting loads above their rating or shock loads due
to collisions or hammering.
11.2.4 Mechanical master-slave manipulators generally
have a payload of approximately 20 pounds when fully
FIG. 3 Typical Power Manipulator on Bridge
extended, although heavy-duty units capable of up to 100
pounds are available. Capacities for all manipulators are
dependent on the angle of the manipulator while lifting an
gripper dimensions.
object. The rated lifting capacity and reach of the master-slave
11.2.6 Mechanical master-slave manipulators should be in-
manipulator are important considerations when selecting the
stalled in pairs to provide maximum handling dexterity, al-
type of manipulator for a specific hot cell application.
though single manipulators are occasionally used for specific
11.2.5 Mechanical master-slave manipulators have grippers
tasks. An operator may use the pair or two operators can
or end effectors with a fixed size and maximum opening.
cooperate in operations where each operates one manipulator.
Components in the cell to be manipulated should be compatible
11.2.7 Boots or sleeves are available for most mechanical
with the grippers. See Fig. 1 for an example of one type of
master-slave manipulators. These boots cover the slave arm in
order to minimize the contamination on the assembly extend-
ing into the hot cell. In dirty, dusty environments boots can
keep material out of the manipulator bearings, gears and
pulleys, thereby extending time between maintenance and
repair. However, the boots can be a nuisance due to their size,
weight and restrictions to movement, and can be ripped or torn
in operation. Therefore, the use of boots should be considered
on a case-by-case basis. In hot cells contaminated with alpha
emitting radionuclides, boots are recommended.
11.3 Power Manipulators:
11.3.1 Both electric and hydraulic power manipulators are
available for service in hot cells. Hydraulic manipulators have
been used in radiation environments for short duration
applications, but generally are not used for long-term applica-
FIG. 1 Typical Gripper Dimensions tions. If the hydraulic power pack is located outside the cell,
C1554 − 18 (2023)
there is concern over potentially contaminated hydraulic fluid, replicate master for control. This provides operation similar to
a mechanical master, but does not provide force reflection.
under pressure, being re-circulated outside the cell. The hy-
draulic power pack is generally not located inside the cell due
11.3.6 Provision should be made to remotely remove a
to the complexity of this equipment and the attendant mainte- manipulator for repair or replacement if the manipulator fails
nance and repair of the power pack inside the cell. Since almost with the joint(s) in any position. An alternative is to provide a
means for moving a joint by mechanical means in the event of
all long-term power manipulators used in nuclear service to
date are electric, only electric power manipulators are dis- a failure. However, this alternative should be available with all
failures including a condition that prevents the axis motor or
cussed in this guide.
reducer from turning, or in the case of a failed coupling or
11.3.2 Due to the force they can exert and the speeds at
shaft.
which they can move, power manipulators have the capability
11.3.7 Force feedback has been provided on some power
to inflict damage in a cell. This potential damage may be to
manipulators. The intent of force feedback is to provide the
other equipment in the cell and also cell windows. Abrupt
operator with a “feel” of the task, similar to that provided with
physical contact of a manipulator with an internal window
normal manual tasks and to that provided with a mechanical
surface could result in a cover glass or glass pane fissure or
master-slave manipulator. Also, force feedback would indicate
dielectric discharge. Refer to Guide C1661 and Guide C1572/
unintended contact with other equipment or material in the cell
C1572M for more information regarding hot cell windows.
and allow the operator to respond appropriately. The ratio and
This potential damage to cell windows and equipment can be
fidelity of the force feedback is critical. Results of the use of
prevented by limiting the speed of travel, by including slip
force feedback on power manipulators have been mixed. Some
clutches in drive systems, by placing physical limitations on
results indicate the ability to accomplish more dexterous tasks,
the work envelope, by providing adequate guards on the
such as threading a nut on a screw, and more efficient (faster)
equipment or windows, or by using software algorithms that
task completion. Other results indicate only marginal dexterity
limit the motions of travel.
increases coupled with a much more complex and, there
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