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Title:
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Failure Mode Analysis for a Hazardous Waste Clean-up Manipulator |
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Author:
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Walker, Ian D.; Cavallaro, Joseph R.
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Type:
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Journal Paper |
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Publisher:
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Elsevier Science Limited |
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Citation:
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I. D. Walker and J. R. Cavallaro, "Failure Mode Analysis for a Hazardous Waste Clean-up Manipulator," Reliability Engineering and System Safety, vol. 53, no. 3, pp. 277-290, 1996. |
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Abstract:
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This paper describes the application of Fault Tree Analysis to the design phase of a robot manipulator for hazardous waste retrieval. The robot is to be deployed in single-shell under-ground storage tanks at the US Department of Energy (DOE) site in Hanford, Washington. These tanks contain a variety of highly radioactive waste types, necessitating extremely safe and reliable manipulator operation. Based on preliminary design drawings of this long-reach manipulator, fault trees were constructed for several critical failure scenarios. Analysis of the trees revealed a number of ways to improve the safety and reliability of the manipulator design. This paper presents a summary of the fault tree analysis, with a discussion of the applicability of qualitative and quantitative fault tree methods to hazardous waste robotics. |
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Date Published:
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1996-05-01 |
