ASTM C1554-03

Standard Guide for Materials Handling Equipment for Hot Cells

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, e.g., 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 engineering skills, proven practices and experience. Its purpose is to provide guidance.
1.3.1.1 The guidance set forth in this standard relating to design of equipment is intended only to alert designers and engineers to those features, conditions, and procedures that have been found necessary or highly desirable to the design, selection, operation and maintenance of reliable materials handling equipment for the subject service conditions.
1.3.1.2 The guidance set forth results from discoveries of conditions, practices, features, or lack of features that were found to be sources of operational or maintenance problems, or causes of failure.
1.3.2 This standard does not supersede federal and/or state regulations, or codes applicable to equipment under any conditions.
1.3.3 This standard does not cover design features of the hot cell, e.g., windows, drains, and shield plugs. This standard does not cover pneumatic or hydraulic systems. Refer to Guides C 1533, C 1217, and ANS Design Guides for Radioactive Material Handling Facilities Equipment for information and references to design features of the hot cell and other hot cell equipment.
1.3.4 This standard does not purport to address all of the safety concerns, if any, associated with its use. It is the responsibility of the user of this standard to establish appropriate safety and health practices, and determine the applicability of regulatory limitations prior to use.

General Information

• Status: Historical
• Publication Date: 09-Jul-2003
• ICS: 27.120.30 - Fissile materials and nuclear fuel technology
• Technical Committee: C26 - Nuclear Fuel Cycle
• Drafting Committee: C26.14 - Remote Systems

Relations

• Replaced By: ASTM C1554-11 - Standard Guide for Materials Handling Equipment for Hot Cells
• Effective Date: 01-Feb-2011
• Referred By: ASTM C1661-18 - Standard Guide for Viewing Systems for Remotely Operated Facilities
• Effective Date: 10-Jul-2003
• Referred By: ASTM C1615/C1615M-17(2022) - Standard Guide for Mechanical Drive Systems for Remote Operation in Hot Cell Facilities
• Effective Date: 10-Jul-2003
• Referred By: ASTM C1725-17(2022) - Standard Guide for Hot Cell Specialized Support Equipment and Tools
• Effective Date: 10-Jul-2003

Standards Content (Sample)

NOTICE: This standard has either been superseded and replaced by a new version or withdrawn.
Contact ASTM International (www.astm.org) for the latest information
Designation:C1554–03
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.Anumber in parentheses indicates the year of last reapproval.A
superscript epsilon (´) indicates an editorial change since the last revision or reapproval.
1. Scope 1.3.1.1 The guidance set forth in this standard relating to
design of equipment is intended only to alert designers and
1.1 Intent:
engineers to those features, conditions, and procedures that
1.1.1 This guide covers materials handling equipment used
have been found necessary or highly desirable to the design,
in hot cells (shielded cells) for the processing and handling of
selection, operation and maintenance of reliable materials
nuclear and radioactive materials.The intent of this guide is to
handling equipment for the subject service conditions.
aidintheselectionanddesignofmaterialshandlingequipment
1.3.1.2 The guidance set forth results from discoveries of
for hot cells in order to minimize equipment failures and
conditions, practices, features, or lack of features that were
maximize the equipment utility.
foundtobesourcesofoperationalormaintenanceproblems,or
1.1.2 It is intended that this guide record the principles and
causes of failure.
caveatsthatexperiencehasshowntobeessentialtothedesign,
1.3.2 This standard does not supersede federal and/or state
fabrication, installation, maintenance, repair, replacement, and
regulations, or codes applicable to equipment under any
decontamination and decommissioning of materials handling
conditions.
equipment capable of meeting the stringent demands of oper-
1.3.3 Thisstandarddoesnotcoverdesignfeaturesofthehot
ating, dependably and safely, in a hot cell environment where
cell,e.g.,windows,drains,andshieldplugs.Thisstandarddoes
operator visibility is limited due to the radiation exposure
not cover pneumatic or hydraulic systems. Refer to Guides
hazards.
C1533, C1217, and ANS Design Guides for Radioactive
1.1.3 Thisguidemayapplytomaterialshandlingequipment
Material Handling Facilities & Equipment for information and
in other radioactive remotely operated facilities such as suited
references to design features of the hot cell and other hot cell
entry repair areas and canyons, but does not apply to materials
equipment.
handling equipment used in commercial power reactors.
1.3.4 This standard does not purport to address all of the
1.1.4 This guide covers mechanical master-slave manipula-
safety concerns, if any, associated with its use. It is the
tors and electro-mechanical manipulators, but does not cover
responsibility of the user of this standard to establish appro-
electro-hydraulic manipulators.
priate safety and health practices, and determine the applica-
1.2 Applicability:
bility of regulatory limitations prior to use.
1.2.1 This guide is intended to be applicable to equipment
used under one or more of the following conditions:
2. Referenced Documents
1.2.1.1 The materials handled or processed constitute a
2.1 Industry and National Consensus Standards—
significant radiation hazard to man or to the environment.
Nationally recognized industry and consensus standards appli-
1.2.1.2 The equipment will generally be used over a long-
cable in whole or in part to the design, fabrication, and
term life cycle (for example, in excess of two years), but
installation of equipment are referenced throughout this guide
equipment intended for use over a shorter life cycle is not
and include, but are not limited to, the following:
excluded.
2.2 ASTM Standards:
1.2.1.3 The equipment can neither be accessed directly for
C859 Terminology Relating to Nuclear Materials
purposes of operation or maintenance, nor can the equipment
C1217 Guide for Design of Equipment for Processing
be viewed directly, e.g., without shielded viewing windows,
Nuclear and Radioactive Materials
periscopes, or a video monitoring system.
C1533 Guide for General Design Considerations for Hot
1.3 User Caveats:
Cell Equipment
1.3.1 This standard is not a substitute for applied engineer-
2.3 Other Standards:
ing skills, proven practices and experience. Its purpose is to
provide guidance.
1 2
This guide is under the jurisdiction ofASTM Committee C26 on Nuclear Fuel For referenced ASTM standards, visit the ASTM website, www.astm.org, or
Cycle and is the direct responsibility of Subcommittee C26.14 on Remote Systems. contact ASTM Customer Service at [e-mail]. For Annual Book of ASTM
Current edition approved July 10, 2003. PublishedAugust 2003. DOI: 10.1520/ Standards volume information, refer to the standard’s Document Summary page on
C1554-03. the ASTM website.
Copyright © ASTM International, 100 Barr Harbor Drive, PO Box C700, West Conshohocken, PA 19428-2959, United States.
C1554–03
AAI A14.3 Ladders, Fixed Safety Requirements, OSHA its distances from each of three intersecting, mutually perpen-
ANS 8.1 Nuclear Criticality Safety in Operations with dicular, planes along lines parallel to the intersection of the
Fissile Materials Outside Reactors other two. Usually referred to as X, Y, and Z.
ANS Design Guides for Radioactive Material Handling
3.1.6 coordinated control—control of a manipulator that
Facilities & Equipment, ISBN: 0-89448-554-7
allows multiple axes of the manipulator to be automatically
ASSE SA/SAFE Ladders, Fixed Safety Requirements,
controlled to achieve a special motion of the wrist or end
OSHA
effector.Thesemotionscanbestraight-linemotionofthewrist
ANSI B30.2 Overhead and Gantry Cranes or end effector, rotation about a point, movement in Cartesian
ASMENQA1 QualityAssuranceRequirementsforNuclear
coordinates or other motions at the wrist or end effector
Facility Applications requiring relative motion of more than one joint.
ASME NOG-1 Rules for Construction of Overhead Gantry
3.1.7 deadhead—the act of placing a force on an immov-
Cranes (Top-Running Bridge, Multiple Girder)
able object or component.
ISO/TC 85/SC 2 N 637 E Remote Handling Devices for
3.1.8 electro-hydraulic manipulator—a manipulator in
Radioactive Materials—Part 1 : General Requirements
whicheachjoint,eitherrotaryorlinear,ofanelectro-hydraulic
ISO 9001 Quality Management Systems Requirements
manipulator is operated by a hydraulic motor or hydraulic
NEMA250 EnclosuresforElectricalEquipment1000Volts
cylinder.Controloftheflowofhydraulicfluidtothehydraulic
Maximum (Type 4)
motors or cylinders to control position and speed are by
NFPA 70 National Electric Code
electric-controlled servo valves. Electro-hydraulic manipula-
2.4 Federal Regulations:
tors are primarily used in under-sea environments and are
10CFR50 Appendix B, Quality Assurance
generally not used in hot cells to date.
10CFR830.120 Nuclear Safety Management QualityAssur-
3.1.9 electro-mechanical manipulator—a manipulator in
ance Requirements
which each joint, either rotary or linear, of the electro-
29CFR1910 Occupational Safety and Health Standards
mechanicalmanipulator(E/M)isoperatedbyanelectricmotor
40CFR 260-279 Solid Waste Regulations
or electric actuator. The E/M is usually mounted on a crane
bridge, wall, pedestal or ceiling and is used to handle heavy
3. Terminology
equipment in a hot cell. The E/M is operated remotely using
3.1 Definitions:
controls from the uncontaminated side of the hot cell.
3.1.1 The terminology employed in this guide conforms
3.1.10 end effector—an end effector is a gripper or other
with industry practice insofar as practicable.
deviceortoolontheend(wrist)ofaslaveofamaster-slaveor
3.1.2 For definitions of general terms used to describe hot
power manipulator.
cells and hot cell equipment, refer to Terminology C859, and
3.1.11 force ball—a force ball is an input device in the
Guide C1533.
shape of a sphere that provides signals relative to force and/or
3.1.3 bogie—a bogie is a small cart used to move material,
torques placed on the ball by an operator. The signals are
supplies and small tools into, out of and within a hot cell.
usually segregated into forces and torques in different direc-
3.1.4 boot—bootinthiscontextreferstoaflexiblecovering
tions, usually Cartesian, even though the operator input is
over equipment including a manipulator to protect it from
generally in a combination of directions.
radioactive contamination. The boot may also protect the
3.1.12 force control—force control is automated control or
equipment or manipulator from acid, caustic solutions and
computer control of a manipulator to maintain a certain force
abrasive powders.
or range of forces on an end effector. Force control requires a
3.1.5 Cartesiancoordinatesystem—athree-dimensionalco-
sensor to monitor the force or force/torque at the end effector
ordinatesysteminwhichthecoordinatesofapointinspaceare
to allow automated or computer control.
3.1.13 forcefeedback—forcefeedbackisanelectricalsignal
relative to force sensed, usually at a joint of a manipulator.
AvailablefromU.S.GovernmentPrintingOfficeSuperintendentofDocuments,
Force feedback is commonly used to generate a force at the
732 N. Capitol St., NW, Mail Stop: SDE, Washington, DC 20401, http://
www.access.gpo.gov.
master that is relative to the sensed force on the end effector.
Available from American Nuclear Society, 555 North Kensington Ave., La
3.1.14 force reflection—force reflection is the perception of
Grange Park, IL 60525, [phone].
5 forceatthemasterofamaster/slavemanipulatorthatisrelative
Available fromAmerican National Standards Institute (ANSI), 25 W. 43rd St.,
4th Floor, New York, NY 10036, http://www.ansi.org. to the forces applied at the end effector.
Available from American Society of Mechanical Engineers (ASME), ASME
3.1.15 gray—the SI unit of absorbed radiation dose. One
International Headquarters, Three Park Ave., New York, NY 10016-5990, http://
Gray (Gy) equals 100 Rads.
www.asme.org.
Available from International Organization for Standardization (ISO), 1, ch. de 3.1.16 hot cell—a hot cell is an isolated, shielded room that
la Voie-Creuse, Case postale 56, CH-1211, Geneva 20, Switzerland, http://
provides a controlled environment for containing highly radio-
www.iso.ch.
activeandcontaminatedmaterialandequipment.Theradiation
Available from Global Engineering Documents, 15 Inverness Way, East
levels within a hot cell are typically several grays or more per
Englewood, CO 80112-5704, http://www.global.ihs.com.
Available from National Fire Protection Association (NFPA), 1 Batterymarch
hour (hundreds of Rads per hour). See Guide C1533 for more
Park, Quincy, MA 02169-7471, http://www.nfpa.org.
detail.
Available from U.S. Government Printing Office Superintendent of Docu-
3.1.17 mechanical master-slave manipulator—a mechani-
ments, 732 N. Capitol St., NW, Mail Stop: SDE, Washington, DC 20401,
http://www.access.gpo.gov. calmaster-slave(m/s)manipulatorisadeviceusedtoremotely
C1554–03
handle materials in a hot cell. It replicates the actions of an 4.5 This service imposes stringent requirements on the
operator outside the cell with a manipulator in the cell by quality and the integrity of the equipment, as follows:
means of a mechanical connection between the two, usually a 4.5.1 Boots and similar protective covers should not restrict
metal tape or cable. movement of the equipment, should be properly sealed to the
3.1.18 mock up—an area designated for the testing of hot equipmentandshouldwithstandtheradiation,cellatmosphere,
cell equipment or the process of qualifying said equipment dust, cell temperatures, chemical exposures, and cleaning and
prior to sending it into the hot cell for operation.Amockup is decontamination reagents, and also resist snags and tearing.
usually equipped with master-slave manipulators and electro- 4.5.2 Materials handling equipment should be capable of
mechanical manipulators and cranes to simulate the hot cell withstanding rigorous chemical cleaning and decontamination
dimensional envelope and operations. procedures.
3.1.19 moused hook—a moused hook is a lifting hook on a 4.5.3 Materials handling equipment should be designed and
crane that has a latch (mouse) across the mouth of the hook. fabricated to remain dimensionally stable throughout its life
The latch keeps the cable, bail or other device within the hook cycle.
so that it can not accidentally slide off of the hook. The latch 4.5.4 Attention to fabrication tolerances is necessary to
is manually activated to release the cable, bail or other device allow the proper fit-up between components for the proper
fromthehook.Mousedhooksarenotusedinhotcellsbecause installation and mounting of materials handling equipment in
of the inability to manually release the latch. hot cells, for example, when parts or components are being
3.1.20 pendant—a pendant is a box with switches, buttons, replaced. Fabrication tolerances should be controlled to pro-
other controls and sometimes a small display screen used to vide sufficiently loose fits where possible to aid in remote
control equipment including manipulators and cranes. The maintenance and replacement of equipment and components.
pendant usually has a cable or umbilical cord to transmit 4.5.5 Fabrication materials should be resistant to radiation
signals from and to the pendant. Some pendants transmit and damage, or materials subject to such damage should be
receivesignalsoverradiofrequencies,sotheydon’trequirean shieldedorplacedandattachedsoastobereadilyreplaceable.
umbilical cord. 4.5.6 Smooth surface finishes are necessary for decontami-
3.1.21 power manipulator—a manipulator with joints acti- nation reasons. Irregularities that hide and retain radioactive
vated electrically or hydraulically. See electro-hydraulic ma- particulates or other adherent contamination should be elimi-
nipulator and electro-mechanical manipulator. nated or minimized.
3.1.22 teleoperated control—teleoperated control is remote 4.6 Materials handling equipment that is exposed to high
control of equipment, including manipulators and cranes by an temperatures, pressures, acidic or caustic conditions may
operatorfromoutsidethehotcellorconfinement.Teleoperated requirespecialdesignconsiderationstobecompatiblewiththe
controlisaidedbyanoperator’sviewoftheequipmentthrough operating environment. Potential rates of change for tempera-
a window, periscope or camera/monitor.An operator is always ture and pressure as well as absolute temperature and pressure
“in-the-loop” in teleoperated control. extremes,createdbyactivationoffiresuppressionsystemsand
3.1.23 through-the-wall sleeve—a through-the-wall sleeve other emergency systems, should be considere
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