Korea Atomic Energy Research Institute (“KAERI”) has been developing pyroprocess technology for the sustainable use of nuclear energy and radioactive waste reduction, and is conducting design studies for a Pyroprocess Commercializing Research Facility (PCRF). High-level radioactive materials such as spent nuclear fuel, which are handled in the hot cell of the PCRF, physically change materials directly or cause chemical changes through ionization or excitation depending on the energy and types of radiation. Therefore, all facilities, including process equipment and remote handling equipment, installed into the hot cell must be evaluated for radiation hardness to be maintained in the radiological environmfent so that processes can proceed throughout the design life of the facility. In addition, as the maintenance paradigm has recently shifted from corrective maintenance to predictive maintenance, it is necessary to know in advance the condition of the equipment or facility in the radiological environment. In this study, an analysis of the radiation environment of the hot cell in the PCRF was conducted through source term, and the radiological dose impact was evaluated through the results of irradiation experiments of major components by reference data. Then, the actual dose contribution was identified through dose assessment using the MCNP code based on the pyroprocess equipment, and the radiation hardness requirements for the facility and equipment in the hot cell were derived by the above results.

This paper describes the development and operation of an autonomous robotic system designed for pyroprocess automation. The unique challenges of pyroprocess automation, such as the need for a highly dry atmosphere to handle materials like chloride, are addressed through this system. For the experiments, a specialized dehumidifier and dry mock-up facility were designed to produce dry air condition. Performances of dry air conditioning for the various simulated situations were evaluated, including assessing worker access within a mock-up to determine the system’s feasibility. To enable automation, containers used for processing materials were modified to fit the gripper system of the gantry robot. The loading and unloading of materials in each equipment were automated to connect them with the robotic system. This gantry robot primarily utilized macro motions to approach waypoints containing process materials, reducing the need for precise approach motions. Its tapered jaw design allowed it to grip target objects even with imperfect positioning. The robot’s motions were programmed initially using a robot simulator for positioning and motion planning, and real-world accuracy was tested in a dry mock-up facility using the OPC platform. Finally, the paper discusses the potential application of XR (eXtended Reality) technology in this context, which could enhance the robot’s operation and provide valuable insights into the automation process. Further analysis of XR technology’s feasibility and benefits for this specific pyroprocess automation system are presented.

As part of strengthening pyro safety measures, the Korea Atomic Energy Research Institute is developing LIBS (Laser-Induced Breakdown Spectroscopy) application technology to analyze molten salt components in electrolytic recovery device in real time. LIBS performs qualitative and quantitative analysis by analyzing the spectrum of energy emitted by atomizing and ionizing elements on the surface of a salt sample with a high-focused laser. Since salt easily corrodes metal, it must be managed in an environment with a dew point of -40°C or lower. In this study, we designed and manufactured a device that places a rod-type sampling stick on a mounting base, automatically moves it to the optimal measurement position for LIBS, and retrieves the sample. Its characteristics are as follows. First, LIBS is stationary and does not move. Second, the sample stick is placed on a mounting base and can rotate 360 degrees. Third, according to the command, the sample stick automatically moves to the optimal measurement position of LIBS with three degrees of freedom (X, Y, Z). Fourth, the salt attached to the sampling stick is recovered for chemical analysis by driving the gripper mounted at the bottom of the Z axis, Z axis, and rotation axis (R). The X, Y, and Z movement distances of this device are each 100 mm, rotation is 360 degrees, grip stroke is 50 mm, and position accuracy is ±20 m. Once the performance test of the automated salt sample analysis device is completed, it will be installed in a dry room with a dew point of - 40°C or lower. Samples will be collected remotely in connection with the electrolytic recovery device and gantry robot built in the dry room. We plan to conduct experiments to seat the sample stick. Ultimately, we plan to conduct comprehensive experiments in conjunction with LIBS.

The process basket assembly is an important module in pyroprocess, because pyroprocess is a batch process, so process materials are contained in a basket assembly and transferred with the basket. The basket assembly is composed of upper and lower assembly. The lower assembly is a basket or crucible which contains process materials, and it can have electrodes. The upper assembly mainly consists of heat shields, a flange, and connectors for supplying currents to electrodes of the lower assembly. During the electrolytic recovery process, the lower part is submerged into molten salt, whose temperature is about 500°C at least and the heat from salt is transferred to the upper assembly. And the heat affects the performance or durability of parts on the top of equipment and can raise cell temperature, which is an undesired situation. In addition, the handling equipment can pick the assembly when it is hottest, and during the transfer, the gripped part is under thermal and mechanical stresses. Because of this, the thermal effects from the heat should be required during equipment design stage. In this study, the thermal analyses of process basket assembly were conducted for 3 cases: the steady state of the basket assembly when it submerged in molten salt, the thermal and mechanical stresses when gripped by remote handling device, and the temperature changes under natural convection. These analyses were performed using Solidworks with flow simulation package, and the results will apply to improve the thermal resistant performance of the basket assembly.