An underground ventilated system for storing nuclear waste materials. The system includes a storage module having an outer shell defining an internal cavity and an inner shell. A majority of the height of the outer shell may be disposed below grade. The outer shell may include a hermetically sealed bottom. First and second canisters are positioned in lower and upper portions within the cavity respectively in vertically stacked relationship. A centering and spacing ring assembly is interspersed between the first and second canisters to transfer the weight of the upper second canister to the lower first canister. The assembly may include centering lugs which laterally restrain the first and second canisters in case of a seismic event. A natural convection driven ventilated air system cools the canisters to remove residual decay heat to the atmosphere. In one non-limiting embodiment, the shells are made of steel.

An underground ventilated system for storing nuclear waste materials. The system includes a storage module having an outer shell defining an internal cavity and an inner shell. A majority of the height of the outer shell may be disposed below grade. The outer shell may include a hermetically sealed bottom. First and second canisters are positioned in lower and upper portions within the cavity respectively in vertically stacked relationship. A centering and spacing ring assembly is interspersed between the first and second canisters to transfer the weight of the upper second canister to the lower first canister. The assembly may include centering lugs which laterally restrain the first and second canisters in case of a seismic event. A natural convection driven ventilated air system cools the canisters to remove residual decay heat to the atmosphere. In one non-limiting embodiment, the shells are made of steel.

A system for controlling the position of an articulated robotic arm in a robotic catheter procedure system, includes an articulated robotic arm, a first controller coupled to the articulated robotic arm and a patient table. The patient table includes a user interface and a second controller coupled to the user interface and the first controller. The second controller is programmed to generate a control signal in response to a user input received using the patient table user interface, the user input indicating a change in position of the patient table. The second controller is also programmed to transmit the control signal to the patient table and to transmit the control signal to the first controller.

A system for controlling the position of an articulated robotic arm in a robotic catheter procedure system, includes an articulated robotic arm, a first controller coupled to the articulated robotic arm and a patient table. The patient table includes a user interface and a second controller coupled to the user interface and the first controller. The second controller is programmed to generate a control signal in response to a user input received using the patient table user interface, the user input indicating a change in position of the patient table. The second controller is also programmed to transmit the control signal to the patient table and to transmit the control signal to the first controller.

Methods, apparatuses, and systems for the storage of spent nuclear fuel (SNF) such that a single facility can serve as both a SNF storage facility and a gamma ray irradiation facility are disclosed. In one embodiment, the SNF is encapsulated inside of a container. The SNF bearing container prevents the escape of fission products into the environment but allows the escape of gamma rays from the container. In this embodiment, several of these containers are evenly spaced throughout a room within a fortified facility and a conveyor system transports products through the room such that gamma rays emitted by the SNF deposit a desired amount of energy into the products. A passive heat removal system is formed by the coupling of the SNF bearing container to a thermal conduction element such that the SNF remains sufficiently cool even when the SNF is generating large heat loads.

Methods, apparatuses, and systems for the storage of spent nuclear fuel (SNF) such that a single facility can serve as both a SNF storage facility and a gamma ray irradiation facility are disclosed. In one embodiment, the SNF is encapsulated inside of a container. The SNF bearing container prevents the escape of fission products into the environment but allows the escape of gamma rays from the container. In this embodiment, several of these containers are evenly spaced throughout a room within a fortified facility and a conveyor system transports products through the room such that gamma rays emitted by the SNF deposit a desired amount of energy into the products. A passive heat removal system is formed by the coupling of the SNF bearing container to a thermal conduction element such that the SNF remains sufficiently cool even when the SNF is generating large heat loads.

Position-indexed storage device comprising a support and a basket installed on the support, the basket comprising a plurality of compartments distributed around a longitudinal axis, the basket comprising a central passage with a longitudinal axis, the support comprising a shaft with a longitudinal axis, the shaft being housed in the passage such that relative displacement is possible between the basket and the support along the longitudinal axis, and mechanical means for displacement of the basket relative to the support by a given angle about the longitudinal axis are supported by the internal surface of the passage and the external surface of the shaft, said mechanical displacement means being actuated in each cycle, each cycle comprising a relative separation or approach displacement along the longitudinal axis of the basket and the support.

Position-indexed storage device comprising a support and a basket installed on the support, the basket comprising a plurality of compartments distributed around a longitudinal axis, the basket comprising a central passage with a longitudinal axis, the support comprising a shaft with a longitudinal axis, the shaft being housed in the passage such that relative displacement is possible between the basket and the support along the longitudinal axis, and mechanical means for displacement of the basket relative to the support by a given angle about the longitudinal axis are supported by the internal surface of the passage and the external surface of the shaft, said mechanical displacement means being actuated in each cycle, each cycle comprising a relative separation or approach displacement along the longitudinal axis of the basket and the support.

The handling device for cases and boxes contained in the cases, comprising a housing intended to receive a case, said housing being closed at a first longitudinal end and open at a second longitudinal end, a holding device (14) mounted at the level of the second end of the housing, the latter comprising two clamping jaws, said clamping jaws applying a clamping force to the case (E), an actuator for opening and closing said jaws, two stop jaws (36, 38), each (36, 38) being supported by a clamping jaw and being articulated in a free manner about and relative to the clamping jaw, springs (40) connecting said stop jaws (36, 38), such that opening of the clamping jaws causes opening of the stop jaws (36, 38) and the stop jaws (36, 38) can be opened independently of the clamping jaws.

A recovery tool for recovering a solid element, in particular a radioactive material. The recovery tool includes a chassis, a capture head and at least one cup. The capture head is movable with respect to the chassis between a retracted position and a deployed position. In the retracted position, the capture head is accommodated within a chamber of the recovery tool. In the deployed position, the capture head is able to capture the solid element. The cup is movable with respect to the chassis between an open position and a closed position. In the open position, the cup allows the capture head to be deployed. In the closed position of the cup, the cup allows the solid element to be retained within the chamber with the capture head in the retracted position.