Rosie: remote work system for decontamination and dismantlement

The Rosie worksystem includes a locomotor, heavy manipulator,operator console, and control system for remote operations. The locomotor is a highly mobile platform with tether management and hydraulic power onboard. The heavy manipulator is a high-payload, long-reach boom used to deploy a wide variety of tools and/or sensors into the work area. Rosie`s advanced control system, broad work capabibilites, and hardening/reliability for hazardous duty make it a new and unique capability that facilitates completion of significant cleanup projects throughout DOE and the private sector. Endurance testing of Rosie during last year has proven its capabilities and appropriateness for D&D applications. Design enhancements are being implemented to improve and add features necessary for deployment at an upcoming DOE facility decommissioning. A second Rosie unit is being fabricated fro use in the decommissioning of ANL`s CP-5 reactor facility starting late 1996. This paper overviews the Rosie system, testing results, design enhancements, and plans for use of this technology at CP-5