LaserSnake2. Presentations by LaserSnake partners and Sellafield Ltd at TWI. 21 st September 2016

Transcription

1 LaserSnake2 Presentations by LaserSnake partners and Sellafield Ltd at TWI 21 st September

2 LaserSnake2 Tele-robotic delivery of laser cutting for nuclear decommissioning 2

3 Decommissioning challenges SL has ~350km of piping and over 2000 vessels Older facilities were not designed with maintenance or decommissioning in mind Decommissioning tool box Decommissioning mind set Balancing maintenance and removal 3

4 Aims from Long reach robots for radiation/confined spaces, delivering tools and sensors 2. Non-contact cutting and reduced waste/fume issues 3. Integrated snake-arm/laser system ready to use on site 4. Off the shelf 6 DoF robot combined with a laser deployed in Windscale 5. Semi-autonomous control, teach and repeat, a snake on a mobile robot 6. Bringing together 5 partners 4

5 Project summary 5

6 Support from Innovate, NDA, DECC essential 1. This project was a first of its kind 2. Aims are to produce world-first demonstrations of new innovative equipment and integrations 3. Increased knowledge capability 4. SMEs / NNL (GOCO) / TWI (RTO) working together and developing solutions together 5. From proof of concept to validation: enabling industrial demonstration at Windscale 6. Facilitate market adoption 7. The project would not have happened without the support of Innovate, NDA and DECC 6

7 Proposed innovations Dec 2012 Innovation Source: LS2 Project Proposal 2012 Current TRL Target TRL Short snake-arm robot 4 6 Fibre delivered laser cutting 4 6 Snake-arm + fibre laser 4 6 Tele-operated cutting (combining TRL9 robots with fibre lasers) 4 6 Long reach snake-arm in air 3 6 Long reach snake-arm in water 2 4 Integrated snake-arm on mobile vehicle 1 4 Development of laser cutting by gouging 2 5 Management of cutting dross 4 6 Use of diffractive optics to tailor the beam focus for 3 6 decommissioning work Underwater laser cutting using a 1 micron wavelength laser beam 2 4 Industrial ready decommissioning laser cutting heads 3 6 Advanced control 2 4 Semi-autonomous navigation including robust sensors for environmental mapping 2 4 7

8 Key successes 1. Laser cutting >100mm 10kW 2. Cutting >60mm stainless 3. Decommissioning specific optics and air or water cooled heads 4. Extended depth of focus DOE 5. A 4.5m reach snake-arm system for vertical and horizontal deployment 6. LaserSnake submerged testing at Sellafield 7. LaserSnake cutting: process development and 3 month trial Task complete 8. OCR, TWI laser cutting knowledge in a decommissioning environment 8

9 Project highlights and challenges 1. Access to Sellafield's testing facility gave the LaserSnake team essential experience of working on site (Jan 2016) 2. Whole hearted support from Sellafield SR&DP team enabled the LaserSnake team access to the First Generation Fuel Reprocessing Plant (Summer 2016) 3. Seeing ULO s air cooled head and air cooled fibre coupling work 4. Successful second set of integrated trials with OCR, ULO and TWI 5. Cutting up all the material in the Sellafield FGRP cell and getting the LaserSnake kit off site 9

10 Project highlights and challenges 1. Capturing, evaluating and reporting on the fume produced from laser cutting 2. Nuclear specific safety case 3. Increasing the horizontal articulated reach from 1.5m to 4.5m getting the materials, design and software to work 1.5m 2.2m - 3.2m 4.5m 4. DOE manufacture 5. High standoff cutting tolerances and thick (>60mm) sections of stainless steel 6. Availability of the Windscale plant 7. Dealing with technical risk and commercial change, 8 project plans! 10

11 In summary 11

12 Thank you 12

13 LaserSnake2 OC Robotics Craig Wilson 13

14 OCR s three tier one LS2 goals LaserSnake Submerged operations LaserSnake Laser cutting X50 Systems test bed 14

15 Secondary challenges In 2012 the proposal included: Reach up from 1.5m to 4.5m Cumulative curvature up from 90 to 135 Payload up from 5kg to 20kg Interchangeable arms/different diameters/same pack Modular extensions Mixed link length arms Yes modular 3m to 4.5m Yes Yes Yes Yes Yes 15

16 Design and development Snake-arm designs 30mm to 210mm diameter Increases to payload, bend, reach Planar and spatial hybrid Supporting electronics 4x power delivery in std controller form factor 2x size reduction for X50 controller Motion modes Cartesian optimised for laser cutting Planar introduction integration Collison detection, avoidance 2.2m arm Using new design and materials Carrying prototype ULO laser head 1m out of plane 3.1m arm A significant stepping stone Designed, built in 2.5 months 1m out of plane Automation Operations planning Laser cutting Integration of laser and robot systems 4.5m arm 4m out of plane Fully configurable Used in SL trials 16

17 Increasing TRLs - robustness Reliability and life Materials and flutes Electronics resilient to greater temperature range and harsher environments Resilience to external unexpected shutdowns (e.g. power loss) in electronics, firmware and software Testing Hardware test rigs HALT electronics testing and commissioning Software unit tests, integration Significant operation times, motion running and system on-times CE marking Process improvements root & branch Design revisions Tracking, versioning and release procedure Efficient and proven rapid development of tools and ancillary devices 17

18 Modular designs Modular design philosophy Easy to exchange components and software Lower cost of ownership (up to 80% decrease) Scalable and configurable (e.g. arms 30mm to 200mm) S/N tracked and versioned hardware, software and electronics Efficient and repeatable unit testing, commissioning and integration Far easier hardware, software and electronics configurations Fault isolation and easier maintenance Applied to Actuators, packs, arms, links, flutes Electronics, removable trays SW architecture SW integrated tools, vehicles, hardware devices 18

19 Achievements: new designs and development: X50 Phase 1 Spatial snake and integrated vehicle Foundation for remote wireless operation Restricted operating envelope Limited arm flexibility A great test bed Phase 2 Compact and manoeuvrable Flexible range of introduction Autonomous snake behaviour for introduction stowing Enhanced camera views, wireless control Simplified control: position vehicle, position introduction, drive snake Test bed for sensors 19

20 Achievements: environment interaction Sensor integration Lidar Structured light Scene mapping Stereo vision Wireless cameras Visualisation and operator aids 3D point cloud processing and display Virtual whiskers Collision detection Semi-autonomy Autonomous snake-arm introduction Autonomous stowing routines Control influenced by proximity 20

21 LS2 and OCR s range of solutions 21

22 LS2 and OCR s range of solutions 22

23 LS2 and OCR s range of solutions 23

24 The end -Thank you 24

25 LaserSnake2 National Nuclear Laboratory Phil Robinson and Barney Whyte 25

26 NNL Contribution role, drivers and value added Long term use of a shielded laser cutting facility for size reduction and packaging of a known quantity of ILW vessels on the SL site. Significant technical advances and safety case related activities associated with the integration of industrial robotics systems with laser cutters within a high integrity shielded facility. ILW cave mock up built in an active environment to demonstrate: A combined robot and laser system that can be delivered to site in a ready-to-use configuration for rapid deployment and use. A world-first system combining an off-the-shelf robot with a laser, deployed in an active facility A mobile robot combination which will be used as an advanced control test bed to test new semi-autonomous control methods and advanced human machine interfaces. 26

27 Delivery Strategy Develop an ex-situ laser cutting capability within a high active cell first of its kind Use of Kuka robotics to utilise proven technology in harsh environments Development of 3D mapping to aid laser cut path planning Integrated testing of system in a purpose built mock up to prove capability Use mock up system to demonstrate safe operation and train operators Install in high active cell and use to size reduce waste items from across Sellafield site 27

28 In-situ vs Ex-situ approach In-situ takes the laser to the vessel or pipework Ex situ takes the dismounted vessel or pipework to the laser cutting station The in-situ challenges are concerned with access and the higher radiation fields associated with adjacent vessels/pipework. The ex-situ challenges are the size of the item that can be imported and the space constraints of the operating cell. The advantage of this approach is a consistent operating environment producing less variation and hence more control. 28

29 An active environment ex-situ laser cutting test rig Full scale high active cell mock-up with change room access Simulants used to prove system capable of operating in an active environment Component import and waste handing process established 29

30 Nuclearisation Nuclearisation requires minimisation of the effects of radiation exposure to the hardware and software. Kuka robots are fundamentally robust and are used in harsh environments: Resolvers used for joint position feedback Robot control system located remote from robot arm Shielding can easily be applied to electronic components on robot base Kuka supply robots with all sensitive components located remotely The laser head components have been tested and are resilient to radiation. The system can be parked in a shielded location when not in use The 3D PCD (point cloud data) laser scanner has an expected lifespan which will allow a significant number of items to be cut before failure. Shielding can be used to extend the lifespan. Following this approach, a minimum lifetime of 10 years can be achieved for the laser and robot before significant radiation degradation to operability occurs. 30

31 Development of 3D mapping to plan a laser cut path Point cloud data (PCD) acquisition approach used (measurement using scanning lasers) Conversion of PCD data into a CAD format compatible with industrial robotics Determination of optimal cutting path 31

32 Human/machine interface communication and control Human/machine interface uses converted point cloud data along with programmed go / no-go regions corresponding to obstacles, joint limits and singular configurations to support the user Path planner calculates a go path using a laser cutting algorithm and code to find suitable/optimal/safe path Tool angle Obstacle Path 1 Singular configuration Beyond joint limits Time Path 2 32

33 Experimental Trials Prove fume management and filtration design Test 3D imaging technology Prove integration of cut path planning with robot / laser system Use real world geometries to challenge system capability Use representative low activity simulants Measure spread of contaminants throughout mock-up Prove use of laser cutting on active material Scale activity levels expected in high active cells Use to underpin operational safety case for system 33

34 Hazards and Risks 1. Active fume generated Smaller active particles could pass building filters. System testing will use effective local extract system Laser will always cut towards local extract inlet captures most of the fume Extensive testing to provide reassurance that active particles are not carried beyond primary filtration 2. High energy laser in a confined active cell Internal damage could lead to a release of contamination. NNL propose to use laser absorbing material local to cutting station Robot programming to prevent aiming outside cutting zone Cut path tested with dummy head before each cutting operation 3. Robot arm operating in a confined active cell Internal collisions could lead to damage and a potential release of contamination. 3D imaging will accurately map cutting zone and feed back to robot controller Feedback from joint motors configured to shut down robot if collision occurs Cut path tested at low speed before each cut 34

35 Progress Summary 1/3 rd scale fume trials completed and indicate fume can be managed, and data analysed for a range of laser parameters Irradiated laser head lenses tested and indicate little attenuation Cave window material lab tested with laser and found to be vulnerable Significant progress on 3D imaging software and robot control Test rig 70% complete: 35

36 Next Steps Complete test rig build Install integrated laser cutting station Commissioning of laser and robotic communication system Experimental Programme Full suite of fume trials Illumination trials Demonstration of reliability, and repeatability of operations Reports of trials issued Safety case for installation of integrated laser cutting station in HA Cells Reports of trials used to produce safety case HAZOP minutes issued Completed detailed design 36

37 NNL The End 37

38 LaserSnake 2 ULO Optics Ltd Nick Ellis Laser cutting heads 38

39 Basic requirements 1. For a fibre laser operating at 1.07mm. 2. A long depth of focus ( FL 2 ). Originally a 500mm FL lens seemed suitable, but. 3. Compact and short. Compromised on a 250mm FL lens. 4. Lightweight. 5. Avoid potential snagging features. 39

40 Three cutting heads 1. Water-cooled optics 2. Air-cooled optics 3. Underwater cutting head 40

41 Air-cooled head Weight 2.5kg Length 459mm 41

42 Air-cooled head Optics (common to all heads) mm FL collimator doublet 2. Diffractive optic mm FL focusing lens UV grade fused silica No DOE 200mm fibre 42

43 Air-cooled head - Body 1. Left picture main body, optics cell in place, nozzle gas channel 2. Right picture main body at fibre and gas feed end. 43

44 Air-cooled head Nozzle section 1. Nozzle section contains a protection window. 2. Centring the beam to the nozzle is achieved by adjusting two screws against a spring. 44

45 Air-cooled head Cooling air route 45

46 Air-cooled head Temperature test 5kW, 1 bar cooling, 2 bar nozzle 46

47 Air-cooled head used for dissolver trials at TWI Cut both from this direction, 25 mm/min 32mm 43mm 10mm 5kW power, 8 bar assist gas pressure, 0.5 bar optics pressure Only 10mm cut at 25 mm/min 47

48 Water-cooled head 1. Almost identical on the outside except for a QD fibre interface and extra connector. 48

49 Water-cooled head 49

50 Water-cooled head Cutting speeds 6mm stainless steel, 5kW laser power 0mm +50mm 2 bar 2800 mm/min 1100 mm/min 6 bar 2950 mm/min 1250 mm/min 25mm stainless steel, 5kW laser power 0mm +50mm 2 bar 100 mm/min 70 mm/min 6 bar 100 mm/min 150 mm/min Taken from TWI report Testing at TWI of ULO water cooled cutting head, TWI

51 Under-water head Uses the air-cooled fibre with a water-proofing collar. 51

52 Under-water head waterproofing the fibre 52

53 Under-water head - Nozzles 1. Inner nozzle with copper tip is for the cutting gas and laser beam. 2. Outer nozzle gas clears the water from inside the brush. 53

54 Summary 1. Water, air-cooled and underwater prototype heads designed, manufactured and tested. 2. Water-cooled version used on a real decommissioning task. 3. Air-cooled version undergoing CE certification. 54

55 LaserSnake 2 Cutting heads The End 55

56 LaserSnake2 Laser Optical Engineering Daniel Lloyd

57 Contents Beam shaping with Diffractive Optics What is a Diffractive Optical Element (DOE)? Why do we want to use them? Are they ready for the nuclear industry? Do they work?

58 Diffractive optics Diffractive (holographic) optical element Lens with a microstructured surface Left, Transmissive DOE for 1µm laser, right, reflective DOE for CO2 laser Diffracts incident light to redistribute it 3D surface profiles of DOEs 58

59 How does a DOE work? An iterative Fourier transform used to calculate the hologram required based on an input of the incident beam and an output of the required beam Pattern plasma etched onto a fused silica widow in a single process to produce a transmissive DOE Kinoform type containing 32 steps allowing a diffractive efficiency of over 92% Diffractive patterns Input beam Collimated beam Diffracted beam Beam expander/ collimator DOE Work piece

60 Electronic hologram 60

61 Want to cut thick section steels with a high tolerance to stand-off position for a given power and speed Why do we want to use DOEs? Want the performance of a 500mm lens with the size of a 250mm lens Depth of field Want to minimise the effects of the residual beam Beam divergence

62 Manufacturability Beam b 1-1c Waist radius M Rayleigh length Minimum spot size Beam quality Depth of field

63 Test set up Fibre connector and collimation lens DOE and focus lens Beam profiler and power meter Infrared Image Visual Image 63

64 Using the DOE Beam Caustic Beam Caustic Conventional lens fl 250mm DOE plus conventional fl 250 mm Beam shape at focus Focus depth 6.4mm Focus depth14mm Beam shape at focus

65 Cutting depth (mm) Cutting trials Preliminary trials on wedge shaped C-Mn steel plate. Laser power 5kW, assist gas air at 8bar Cutting speed (mm/min) 250mm lens -20 FP 500mm lens -20 FP 250 lens +DOE -20FP

66 Cutting trials Further trials on 40mm thick C-Mn steel plate, laser power 5kW, assist gas air at 8bar, to establish tolerance to cutting head stand off at a given speed Configuration 250mm lens alone 250mm 500mm lens alone 250mm 500mm lens lens + alone DOE 250mm lens + DOE mm lens + DOE Stand-off distance Configuration Focus position Equivalent stand-off Cutting speed range covered range covered possible Focus position Equivalent stand-off Cutting speed -20 to +40mm 60mm 50mm/min range covered range covered possible -20 to +40mm +80mm 100mm 60mm 50mm/min -20 to +80mm 100mm 50mm/min -20 to +80mm +20mm 100mm 40mm 100mm/min 50mm/min -20 to +20mm 40mm 100mm/min

67 Cutting 40mm CMn steel, 5kW 250mm lens 50mm/min 60mm stand-off range DOE + 250mm lens, 50mm/min 100mm stand-off range DOE + 250mm lens, 100mm/min 40mm stand-off range

68 Effects beyond the work piece Conventional beam Molten aggregate Effect of residual laser beam on a concrete surface. 700mm past beam focus to concrete at 100mm/min. Diffractive beam Surface discolouration

69 Conclusions AR coatings and fused silica substrates show no sign of damage from radiation dose Improves power transmission and cutting performance at cost of increased thermal load Limited dose Optics and coatings survived operation in convection cooled 10kW for 6 minutes Represents a check of the redundancy of the lenses in the event of a failure of the cooling circuit. Manufacturing process robust Demonstrated process benefits 69

70 LOE The End 70

71 LaserSnake2 TWI Paul Hilton 71

72 Contents Introduction to laser cutting for decommissioning Thick section cutting Cutting layered materials Stand-off tolerance Underwater cutting Dross and particulate generated Laser size reduction at Sellafield 72

73 Laser cutting mechanisms Laser Gas Nozzle tip to beam focus distance: 15mm (fixed) Nozzle tip to sample distance: (varies) 73

74 Thick section cutting Tests with 10kW laser power with TWI cutting head 100mm C-Mn plate 74

75 Thick section cutting Tests with 10kW laser power with TWI cutting head C-Mn plate at 10kW power 8 bar compressed air assist gas 75

76 Thick section cutting Tests with 10kW laser power with TWI cutting head 76

77 Cutting layered materials In decommissioning can expect dual and triple layered structures Single-pass: Speed 0.4m/min; Laser power 5kW; Nozzle to focus position distance 53mm. Double-pass: Speed 1.0m/min; Laser power 5kW; Nozzle to focus position distance 53mm. 77

78 Cutting layered materials In decommissioning can expect dual and triple layered structures Single-pass: Speed 0.25m/min; Laser power 5kW; Nozzle to focus position distance 53mm. 78

79 Underwater laser cutting 79

80 Underwater laser cutting Cutting C-Mn steel underwater Deviations only at longer stand-off and high thickness 80

81 Underwater laser cutting 81

82 Underwater laser cutting 82

83 Particulate experiments Perform laser cutting in a sealed cell Recuperate the material liberated from the cut kerf Determine the range of particles produced by sieving Determine range of particle sizes by laser diffraction Determine mass loss & adhering dross mass in plate being cut SEM and EDX analysis of particulate On 6mm and 12mm thick 304 st st Variables: Laser power, assist gas pressure and stand-off distance 83

84 Experimental equipment Particle size assessment 84

85 Mass loss in plate and mass of collected material Mass loss in plate (g/m) Total mass of collected material (g/m) Particles larger than 180um (g/m) Particles between 106um & 180um (g/m)

86 Mass loss in plate (g/m) Mass of particles between 10um & 106um (g/m) Mass loss in plate and mass of collected material Particles between 10um & 32um Particles between 32um & 53um Particles between 53 & 75um Particles between 75 and 106um Mass loss in plate mm thick material 86

87 Adhering dross 15mm stand-off 2bar gas 3kW laser power 15mm stand-off 6bar gas 5kW laser power 65mm stand-off 2bar gas 3kW laser power 65mm stand-off 2bar gas 3kW laser power 87

88 Adhering dross 12mm thick material 88

89 Particulate conclusions Cutting parameters for minimum mass loss are: 15mm stand-off, 2bar gas pressure and 3kW laser power - producing about 25g of particulate per metre of cut The majority of particulate is greater than 180 microns in diameter Increases in applied power, gas pressure and stand-off distance, all induced greater mass loss in the samples Laser particle analysis detected particles down to 0.34 micron in diameter Parameter sets producing high adhering dross did not correspond to minimal mass loss in the samples Results show that it might be possible to tailor adhering dross/released dross to the application 89

90 Preparation for dissolver cutting 90

91 Preparation for dissolver cutting 91

92 Acknowledgements Innovate UK The NDA DECC Staff at Sellafield site 92

93 Size Reduction of the Dissolver at Sellafield 93

94 In-situ, active area size reduction The challenge: To establish a suitable location and task to trial and demonstrate in-situ size reduction 94

95 In-situ, active area size reduction 95

96 Sellafield Ltd Mike Guy Remediation Technical Manager. Alan Cardwell Remediation Active Demonstrator Manager Rhys Roberts Remediation Senior Technical Support Advisor

97 DEMONSTRATION LOCATION FIRST GENERATION REPROCESSING PLANT within the separation area at Sellafield. The dissolver was installed on the 8 th floor in 1950s as part of increased throughput modifications but never put into service. 97

98 DISSOLVER DETAILS The dissolver was approximately 3m tall, by 1.3m in diameter and weighed in the region of 5 tonnes. The vessel was double skinned Main body made from 32mm rolled stainless steel, with a 12mm outer jacket standing 40mm from the main body on the lower portion of the vessel. 98

99 THE CHALLENGE Work undertaken over 10 years ago lowered the vessel to floor level and cut into three large sections. Further size reduction still required to remove the waste material from the building. 99

100 RADIOLOGICAL ISSUES The conditions in the cell are categorised as C3 / R4. Man access always possible in PVC suit and respirator. Contact dose readings within the vessel up to 12milliSv/hr beta gamma. Waist height readings around 20microSv/hr gamma. Laser cutting expected to release contamination into the cell. 100

101 INITIAL PLANNING PROCESS Using installation and operation guides provided by OC Robotics and TWI, the installation, operation and removal was taken through the HAZOP process. All types of hazards are discussed and required safety measures identified which then cascade down through any safety case changes, operator instruction and risk assessments. A pragmatic approach using a decommissioning mindset kept the output from the HAZOP minimal. 101

102 DOCUMENTATION TRAIL PLANT MODIFICATION PROCESS HAZOP PERSONAL MEMO PLANT DRAWINGS SCAFFOLD DESIGN FLOOR LOADING CALCS OPERATOR INSTRUCTION RISK ASSESSMENT LIFTING PLAN COSHH ASSESSMENT MANUAL HANDLING ASSESSMENTS QUALITY PLAN 102

103 PERIPHERAL REQUIREMENTS SITE ACCESS PASSES BUILDING INDUCTION TRAINING RECORDS TRANSPORT ARRANGEMENTS CRANE OPERATORS SL OPERATORS C2/ R2+ TRAINING DOSIMETRY REQUIREMENTS EQUIPMENT RECORDS SITE ACCESS FOR TRANSPORT RIGGING SUPPORT HEALTH PHYSICS SUPPORT 103

104 INSTALLATION Installation complete in less than 4 days. System operational almost immediately. 104

105 INSTALLATION Minimal interaction with cell structure. Simple operating platform. 105

106 OPERATION Initial cutting operations successful. Ventilation arrangements proved to be challenging. Assist gas supply slowed up progress. 106

107 SOME STATISTICS Days on site 48 (excluding installation and breakdown) Programming time Cutting time Length of cut Average cutting speed c.120hrs c.40hrs 66m 80mm/min 107

108 EXTENDED OPERATIONS Time on site extended to complete task. Cutting process improved with planning of the cuts becoming quicker. Completion on time in early September. 108

109 REMOVAL OF EQUIPMENT Contamination control successful. All equipment monitored clean and certified for release. Removal process quick and efficient. 109

110 FUTURE POTENTIAL Working in higher radiation areas. Shifting the threshold between remote and manual decommissioning. Rapid size reduction of vessels and pipework. Re use of equipment. 110

111 SUMMARY Completion of task. Good working arrangements. Ease of installation and operation. Recovery of 99% of the equipment. SAFE OPERATION THROUGHOUT. 111

112 SL Technology Development Many Decommissioning / Retrievals PFSP FGMSP Some Technology Ideas Technology Integration Few Technology Demonstration TRL 7-9 Objective MSSS PFCS TRL 4-6 TRL1-3 By suppliers and universities through NNL Funded by NNL Geared funding: research grants E.g., EPSRC Scheme by SL/NNL. Inactive trials facilitated or undertaken by NNL Funded by Sellafield Ltd Technical Innovation Geared funding: development grants E.g., NDA DRP On Sellafield nuclear Plant Funded by Sellafield Ltd Future Decommissioning Geared funding Supply chain partnership Sellafield Intelligent Customer Integrated Innovation Project Teams (IITs) Technical & Engineering Division (TED) Remediation Technical Active Demonstrators

113 What it Means for us as Customers Recent Quotes From Prof Melanie Brownridge July 2016, Head of Technology, NDA I d just like to thank you and your teams for the demonstration last week of LaserSnake. I was really excited to see it working in situ and cutting in real time. I understand and appreciate the effort and commitment required to get to this point.. From Rebecca Weston July 2016, Technical Director, SL Thanks Melanie. I would echo your comments about the commitment of all parties and the opportunities this technology and combinations of it presents. I took the opportunity to share the work with our executive team this morning good interest - and our Chief Operations Officer was very impressed on his visit last week, not least for the flexibility of the snake arm. Following a Presentation to the SL Exec, 15 th September 2016 Very positive feedback was received from all members of the Executive. There was a desire to :- Overcome the identified difficulties, Continue work to combine technologies to enhance capability Make a Business Case for a real scenario to demonstrate potential savings. 113

114 What s Next Remediation is still forming and decommissioning strategies, decisions and plans are far from fixed. Technology Pipeline Challenge the Baseline Alpha Challenge the Baseline CH Beta Gamma Challenge the Baseline High Active For This technology Close Gaps and Integrate Solution. Risks Ventilation / Filtration, Air Supply, One Entry Deployment. Combined Capabilities Characterisation, waste identification,??? Future Automation 114