Special handling requirements

DOE-STD-6003-96

Assembly and disassembly techniques

Systems should be of modular construction, if possible, to facilitate maintenance. Mod-

ules can be replaced or relocated to other maintenance facilities with less potential for person-

nel exposure. Systems for use in highly congested areas must also allow for modular construc-

tion to a sufficient degree to allow for access and recovery of components.

Systems or modules of systems should provide for handling by fully protected personnel

(e.g., plastic suits) with a minimum of special requirements. Permanent lifting points are desired,

and lifting slings (ropes, cables, straps) should be avoided.

Gloved or double-gloved, hand-compatible electrical and service connectors should be

used to facilitate connections. Sharp edges or rough surfaces are to be particularly avoided, to

prevent compromising protective clothing.

Special handling requirements

The handling of typically large and powerful remote equipment in confined spaces and the

subsequent maintenance of that equipment should be a design factor. System designs should

allow for required personnel work without hazard to personnel.

k. Mode of operation

Remote-handling systems should be operable in the operational modes of less sophisti-

cation than their normal mode to facilitate recovery from off-normal events without personnel

entry.

Programmed assistance should be provided in the form of graphics-based workcell mod-

eling, or similar analysis, coupled to the movements of any automated system. This should dis-

play the location of all known obstacles or objects within a work cell and the present location of

the remote system. The control systems should display all programmed motions in the modeled

environment, in real time, with display-before-movement capabilities. This will allow all actions to

be tested before started.

Collision avoidance

The most desirable mode of operation is with active system control to prevent operation in

areas of exclusion. In this type of operation, the control system will intervene when commands

direct a system into a predetermined exclusion area. The environment can be either statically

modeled, when unchanging, or actively modeled, when dynamic. The active modeling can be

vision-based, structured-light-sensed, or similar.

The control system should be the primary means of obstacle avoidance. Active sensors

on systems should also be provided where needed to avoid high-damage-potential collisions.

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