ASTM C1554-18(2023)
(Guide)Standard Guide for Materials Handling Equipment for Hot Cells
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
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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 service@astm.org. 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, (312) 352-6611.
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 mad
...
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