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Miles of contaminated pipe must be measured, foot by foot, as part of thedecommissioning effort at deactivated gaseous diffusion enrichment facilities.The current method requires cutting away asbestos-lined thermal enclosures andperforming repeated, elevated operations to manually measure pipe from theoutside. The RadPiper robot, part of the Pipe Crawling Activity MeasurementSystem (PCAMS) developed by Carnegie Mellon University and commissioned for useat the DOE Portsmouth Gaseous Diffusion Enrichment Facility, automaticallymeasures U-235 in pipes from the inside. This improves certainty, increasessafety, and greatly reduces measurement time. The heart of the RadPiper robotis a sodium iodide scintillation detector in an innovative disc-collimatedassembly. By measuring from inside pipes, the robot significantly increases itscount rate relative to external through-pipe measurements. The robot alsoprovides imagery, models interior pipe geometry, and precisely measuresdistance in order to localize radiation measurements. Data collected by thissystem provides insight into pipe interiors that is simply not possible fromexterior measurements, all while keeping operators safer. This paper describesthe technical details of the PCAMS RadPiper robot. Key features for this robotinclude precision distance measurement, in-pipe obstacle detection, ability totransform for two pipe sizes, and robustness in autonomous operation. Testresults demonstrating the robot's functionality are presented, includingdeployment tolerance tests, safeguarding tests, and localization tests.Integrated robot tests are also shown.

A Robot for Nondestructive Assay of Holdup Deposits in Gaseous Diffusion Piping