Lawrence Berkeley Laboratory`s Environment Department addresses its responsibilities through activities in a variety of areas. The need for a comprehensive management control system for these activities has been identified by the Department of Energy (DOE). The WM QA (Waste Management Quality Assurance) Plan is an integral part of a management system that provides controls necessary to ensure that the department`s activities are planned, performed, documented, and verified. This WM QA Plan defines the requirements of the WM QA program. These requirements are derived from DOE Order 5700.6C, Quality Assurance, the LBL Operating and Assurance Program Plan (OAP, LBL PUB-3111), and other environmental compliance documents applicable to WM activities. The requirements presented herein, as well as the procedures and methodologies that direct the implementation of these requirements, will undergo review and revisions as necessary. The provisions of this QA Plan and its implementing documents apply to quality-affecting activities performed by and for WM. It is also applicable to WM contractors, vendors, and other LBL organizations associated with WM activities, except where such contractors, vendors, or organizations are governed by their own WM-approved QA programs. References used in the preparation of this document are (1) ASME NQA-1-1989, (2) ANSI/ASQC E4 (Draft), (3) …

The Interactive, Computer-Enhanced, Remote Viewing System (ICERVS) is a system designed to provide a reliable geometric description of a robotic task space in a fashion that enables robotic remediation to be carried out more efficiently and economically than with present systems. The key elements are a faithful way to store empirical data and a friendly user interface that provides an operator with timely access to all that is known about a scene. The development of ICERVS is to occur in three phases. Phase 1 will focus on the development of the Data Library, which contains the geometric data about the task space and the objects in it, and the Toolkit, which includes the mechanisms for manipulating and displaying both empirical and model data. Phase 2 will concentrate on integrating these subsystems with a sensor subsystem into one working system. Some additional functionality will be incorporated in the Data Library and Toolkit subsystems. Phase 3 will expand the configuration to meet the needs of a full scale demonstration of the interactive mapping of some waste site to be identified. The second Phase of the ICERVS project consists of nine tasks. Significant efforts were devoted to the completion of Task 1: Intermediate …