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International Union of Operating Engineers National Hazmat Program

International Environmental Technology & Training Center

HUMAN FACTORS ASSESSMENT

REPORT FEBRUARY 2001

Bartlett Services, Inc. Robotic Climber H-1

Research supported by the U.S. Department of Energy’s

National Energy Technology Laboratory under cooperative agreement DE-FC21-95MC32260 with the

Operating Engineers National Hazmat Program, 1293 Airport Road, Beaver, WV 25813,

Phone: 304-253-8674 , Fax (304) 253-7758. Email: [email protected]

Frank Hanley, General President This report was prepared with the support of the U.S. Department of Energy. However, any opinions, findings, conclusions, or recommendations expressed herein are those of the author(s) and do not necessarily reflect the views of the DOE.

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Bartlett Services Inc. Robotic Climber H-1

Table of Contents

ACKNOWLEDGMENTS ...................................................................................... ii EXECUTIVE SUMMARY.................................................................................... iii SECTION 1 - SUMMARY ....................................................................................1 Technology Description ..................................................................................1 Key Results ....................................................................................................1 SECTION 2 - SYSTEM OPERATION..................................................................2 SECTION 3 – SAFETY AND HEALTH EVALUATION.........................................4 General Safety and Health Concerns .............................................................4 Industrial Hygiene Monitoring .........................................................................6 Methods......................................................................................................6 Results.......................................................................................................7 Human Factors Interface ..............................................................................10 Technology Applicability ...............................................................................11 SECTION 4 - JOB SAFETY ANALYSIS (JSA) ..................................................12 SECTION 5 - FAILURE MODE AND EFFECTS ANALYSIS (FMEA) ................15 SECTION 6 - TECHNOLOGY SAFETY DATA SHEET (TSDS) ........................16 SECTION 7 - EMERGENCY RESPONSE/PREPAREDNESS ..........................26 SECTION 8 - REGULATORY POLICY ISSUES................................................26 SECTION 9 - OPERATIONAL CONSIDERATIONS AND RECOMMENDATIONS ................................................................................27 APPENDIX A - REFERENCES .........................................................................30 APPENDIX B - NOISE SAMPLING ...................................................................31 APPENDIX C - ACRONYMS .............................................................................39

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ACKNOWLEDGMENTS The human factors assessment of the Robotic ClimberTM was conducted under cooperative agreement DE-FC21-95MC32260 between the U.S. Department of Energy’s National Energy Technology Laboratory and the Operating Engineers National HAZMAT Program. The Operating Engineers National HAZMAT Program would like to thank the following team members for conducting this assessment: Barbara McCabe Operating Engineers National Hazmat Program David Curry IUOE Local Union 280 Jim Leslie IUOE Local Union 12

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EXECUTIVE SUMMARY

The Robotic ClimberTM was tested on concrete and brick surfaces at Florida International University (FIU) in December, 1998. In conjunction with FIU’s evaluation of efficiency and cost, the Operating Engineers National Hazmat Program performed a hazard analysis and safety evaluation. The Robotic ClimberTM is a commercially available. The Robotic ClimberTM uses an ultra high pressure water jetting within a contained vacuum shroud to remove and capture surface contaminants during surface decontamination, coating removal, and concrete scabbling. The Robotic ClimberTM H-1 model is a remote controlled, free climbing robot using ultra high pressure water jetting within a contained vacuum shroud. This technology employs a self-propelled, remotely operated robotic device designed for surface decontamination, coating removal, and concrete “scabbling”. Variable water pressure (0 to 36,000 psi) at low consumption rates is the medium used by this H-1 model. Adhesion to the surface is achieved using vacuum, enabling the robot to perform on vertical or inverted surfaces as well as horizontal flats and sloped surfaces. This vacuum also serves to capture the water from the removal process as well as the waste. Once captured the waste/water is transported to a holding tank for future treatment or processing. One major advantage of the system is that the Robotic ClimberTM can be operated remotely which means the operator controls the blasting from a portable console which is much less physically tiring than handling a standard blast nozzle. It also reduces, through distance, the operators exposure to contaminants and noise. The safety and health evaluation during the testing demonstration focused on noise, dust, ergonomics, and heat stress. The dust levels were kept quite low by the wet process and the strong vacuum on the unit. The noise levels, however, were significantly in excess of the Occupational Safety and Health Administration’s (OSHA) Permissible Exposure Limit (PEL) and the American Conference of Governmental Industrial Hygienist’s (ACGIH) Threshold Limit Value (TLV). The noise exposures to operators can be reduced by remotely controlling the unit from a greater distance than was done during the test at FIU. Consistently wearing appropriate personal protective equipment can prevent harmful effects, as well. Heat stress measurements indicated that further steps should be taken to assure that workers do not experience heat-related illnesses while conducting tests in the heat of Miami. Other safety and health concerns included ergonomics, machine guarding, and tripping hazards. The following recommendations are made to the technology developer: § Consider developing guidance for using the winches and safety cables. This system

prevents the life-threatening injuries that could result if the robot blaster fell from a vertical surface or from the underside of a horizontal surface. Correctly setting up

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the system is neither obvious nor easy and, consequently, improper rigging can result.

§ Consider further noise exposure monitoring using octave band analysis to determine

if engineering controls may be feasible to reduce the noise level during operation of the Robotic ClimberTM. Noise monitoring showed values in excess of the OSHA PEL and ACGIH TLV.

§ Consider issuing specific guidelines for operating the Robotic ClimberTM on surfaces

that pose additional risk of suction loss. When suction, and therefore, contact with the surface is lost, water tends to leak from under the unit. The robot may then run through the waste causing it to smear contamination on the surface or the contamination could become airborne.

§ Decontamination with the Robotic ClimberTM is a wet process, therefore, there is

always the possibility that the walking surfaces will be wet. Workers should wear anit-slip footwear and ladders should have anti-slip feet and steps. All wet walking surfaces should be cleaned as soon as possible.

§ There is the possibility of severe ergonomic hazards if the workers manually lift the

Robotic ClimberTM to the wall/ceiling surface (the robot weights approximately 80 pounds). Mechanical lifts should be used for this purpose.

§ Due to high noise levels, communication is difficult during operation of the Robtic

ClimberTM. Since several workers are needed to operate the robot, training to assure that they are all familiar with and use hand signals for communication needs to be done.

§ The control panel was mounted on the top of one of the transport boxes. The

control panel should be mounted on a stand that would allow the operator to raise or lower the height of the controls so they would be at the correct height for each operator. Additionally, the controls were not labeled, labeling of controls to avoid confusion, particularly in an emergency situation is imperative.

§ The operator controls are levers with a ball-type design on the top. The levers move

in a forward/backward direction and require a medium amount of pressure to move. They also do not lend themselves to an intuitive understanding of operation of the robot. A joystick design may be more intuitive and offer smoother operation. Additionally, if the ball on top of the lever were padded it would relieve pressure points being placed on the hand.

§ There are times during the operation of the Robotic ClimberTM, horizontal surface

operation, when a worker must constantly manage the lines (move around the water supply line, tether line, and vacuum line). This not only places ergonomic stressors on the worker but also requires that a worker be in the contaminated area and also exposes the worker to higher noise levels. An automatic system to control and manage the lines needs to be considered.

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Bartlett Services Inc. Robotic Climber H-1

Human Factors Assessment SECTION 1 - SUMMARY TECHNOLOGY DESCRIPTION The Bartlett Services Inc. Robotic ClimberTM H-1 was tested on concrete surfaces at Florida International University (FIU). In conjunction with FIU’s evaluation of efficiency and cost, this report covers the hazard analysis and safety evaluation that was conducted during the test. The robotic ClimberTM is a commercially available technology that was developed by Bartlett Services Inc. and has been used is the nuclear, marine, and tank and chemical processing industries. The Robotic ClimberTM uses an ultra high pressure water jetting within a contained vacuum shroud to remove and capture surface contaminants during surface decontamination, coating removal, and concrete scabbling. The technology offers several major advantages. One major advantage of the Robotic ClimberTM is that the system can be operated remotely which means the operator controls the blasting from a portable console which is much less physically tiring than handling a standard blast nozzle. It also reduces, through distance, the operators exposure to dust and noise. The Robotic ClimberTM H-1 model is a remote controlled, free climbing robot using ultra high pressure water jetting within a contained vacuum shroud. This technology employs a self-propelled, remotely operated robotic device designed for surface decontamination, coating removal, and concrete “scabbling”. Variable water pressure (0 to 36,000 psi) at low consumption rates is the medium used by this H-1 model. Adhesion to the surface is achieved using vacuum, enabling the robot to perform on vertical or inverted surfaces as well as horizontal flats and sloped surfaces. This vacuum also serves to capture the water from the removal process as well as the waste. Once captured the waste/water is transported to a holding tank for future treatment or processing. KEY RESULTS There are several impressive safety design features of the Robotic ClimberTM. The remote operation of the system takes the worker out of the immediate blast area and greatly reduces exposures to noise, dust, and ergonomic stressors. Compared to standard blasting techniques, the operator can work from a comfortable position with less personal protective equipment, moving levers on a control panel. Standard blasting techniques often necessitate regular replacement of face shields to allow

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acceptable viewing of the work, providing the operator with an airline respirator, and frequent breaks because of heat stress and physically tiring work. The Robotic ClimberTM eliminates most of these negative aspects of traditional blasting techniques. The safety and health evaluation during the testing demonstration focused on noise, dust, ergonomics, and heat stress. Noise exposure was significant but could have been significantly reduced by moving the operator further from the blast unit – a condition that was impractical for the FIU test but achievable on most job sites. The noise readings were in excess of the Occupational Safety and Health (OSHA) permissible exposure limit (PEL) and American Conference of Governmental Industrial Hygienists (ACGIH) threshold limit value (TLV). Dust measurements were all low, as was expected since this is a wet process and because of the strong suction applied at the blasting head. Heat stress measurements indicated that further steps should be taken to assure that workers do not experience heat-related illnesses while conducting tests in the heat of Miami. Other safety and health concerns included ergonomics, high-pressure hazards, and tripping hazards. SECTION 2 - SYSTEM OPERATION The Robotic ClimberTM is designed to work on horizontal, vertical and overhead surfaces. See Figure 1. A powerful vacuum holds the robot to the surface and captures waste, preventing the spread of contamination or toxin. The main features and benefits include: • Remote operated • Two to ten times the production of hand held

equipment • Work can be performed up to 500 feet away

(or further with special engineering) • Increase in worker productivity • Safer for workers and the environment • Production rates more consistent • Waste is captured right at the robot • Waste safely transported to treatment and/or recycling • Scaffolding and containment can be eliminated on most projects • No grit or solid media to dispose of • Minimizes hazardous material exposure to workers • Easy to operate • Full forward, reverse, and 360 degrees turning capabilities • Full range of options and accessories are available

Figure 1: Robotic Climber Operating on wall surface.

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Figure 2: Robotic Climber Operating on ceiling surface.

Figure 3: Robotic Climber

Water jets and tube-type seal.

The Robotic ClimberTM H-1 model is a remote controlled, free climbing robot using ultra high pressure water jetting within a contained vacuum shroud. This technology employs a self-propelled, remotely operated robotic device designed for surface decontamination, coating removal, and concrete “scabbling”. Variable water pressure (0 to 36,000 psi) at low consumption rates is the medium used by this H-1 model. Adhesion to the surface is achieved using vacuum, enabling the robot to perform on vertical or inverted surfaces (see Figure 2.) as well as horizontal flats and sloped surfaces. This vacuum also serves to capture the water from the removal process as well as the waste. Once captured the waste/water is transported to a holding tank for future treatment or processing. The Robotic ClimberTM is a work platform given mobility with two tank-like tracks powered by two independent motors. The overall dimensions of the device are 2 feet X 2 feet

X 18 inches high. An ultra high pressure rotary nozzle with eight (8) spray tips housed beneath the robot spins at high RPMs delivering the water jets to the surface which cut an eight (8) inch path. See Figure 3. A vacuum chamber houses the spray tips and is encircled with a seal. This seal works to form the seal which holds the robot to the surface and prevents the egress of waste and water into the environment. The standard H-1 robot weighs approximately 67 pounds. Several pieces of support equipment are required for system operation and include:

1. Ultra High Pressure Hydroblast Pump – 150 Horsepower; diesel or electric powered.

2. Vacuum System capable of developing 450 CFM. 3. Air Compressor – 185 CFM preferred (125 CFM is acceptable in short run

cases). 4. Safety Tether System – Air powered winch and cable to prevent accidental falls.

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Robotic ClimberTM Specifications

Item Specification Weight of Robot (approximate) 80 pounds Set-up Time (approximate) 30 minutes Dimensions (inches) 25” wide X 23” long X 18” high Power (standard) Air (125 cfm)

Robotic ClimberTM Production Rates

Item Rate Decontamination (on steel) 600 – 1000 sq. ft. per hour average Coating Removal (on steel) 400 – 500 sq. ft. per hour average Concrete Scabbling 500 sq. ft. per hour average (to ¼ inch

depth) Mil Scale / Rust Removal 700 – 1000 sq. ft. per hour average

SECTION 3 - HEALTH AND SAFETY EVALUATION GENERAL SAFETY AND HEALTH CONCERNS Safety and Health Information Provided by the Developer

Bartlett Services Inc. provided a Job Safety Analysis (JSA) for the equipment and a list of safety precautions, including the following:

• Required and/or recommended personal protective equipment: o Gloves o Safety Glasses o Hard hat (during equipment moving stages) o Steel Toe Boots (during equipment moving stages) o Hearing Protection (during operation)

• Unloading equipment job step: o Toe/hand injury – wear gloves and safety shoes o Back Injury – use forklift o Eye and Head – safety glasses and hard hats

• Set-up job step: o Worn hoses – inspect all lines o Loose/unsecured connections – secure all connections o Water leaks – use only authorized fittings

• Operation job step: o Hearing difficulty – use communication sets for operators o Hearing damage – use hearing protection o Water jets – stay clear of robot during operation o Compressed air lines – check lines during operation

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• Breakdown of equipment job step: o Toe/hand injury – wear gloves and safety shoes o Back Injury – use forklift o Eye and Head – safety glasses and hard hats

OENHP Safety and Health Assessment The OENHP assessment team used the materials from the developer as a foundation for the safety and health assessment which produced a JSA, a Failure Modes and Effects Analysis (FMEA), and a Technology Safety Data Sheet (TSDS). This last document, building on the familiar format of the Material Safety Data Sheet, is a unique effort of the Operating Engineers National Hazmat Program to incorporate all of the important safety and health information about the Robotic ClimberTM technology into one source that can be used to train operators and maintenance personnel. The following safety and health issues were identified during the evaluation of the Robotic ClimberTM unit: § Struck by hazards – The Robotic ClimberTM could present a serious hazard of striking

workers. Of particular concern is the possibility of the blasting unit’s strong suction loosening during operation on a wall or ceiling. This is a real possibility if the unit encounters uneven surfaces, blasts differentially through softer material, or losses its seal provided by a rubber tube located on the bottom of the robot it could cause a break in suction. The latter event occurred during testing at FIU when the seal became damaged by the rough surface of the concrete walls; this caused the suction to fail and the unit to release from the wall. A back-up system of cables caught the unit before it fell. The proper rigging of this back-up cable system is a key issue in worker protection. No written instructions on proper rigging were provided by the developer. Additionally, the wench being used to tension the safety cables needs to have a fall arrest system.

§ Air pressure hazards - The Robotic ClimberTM operates at high blast pressure and high

vacuum suction, both of which can pose risks to operators. Hoses need to be inspected, tightened, and properly secured. The constant flow of the high pressure water jet and air can weaken the metal screws in the hose connectors. The unintentional release of a hose could result in an uncontrolled, whipping action that could cause severe injuries.

§ Noise - The Robotic ClimberTM uses a high pressure water jet and large volumes of

compressed air that create noise above acceptable levels. Personnel near the blasting could suffer hearing loss. Operating the remote unit further from the blast area would decrease noise exposures. This is an apparent standard approach of the contractor but was not feasible in the constrained test space at FIU.

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Figure 4: Robotic Climber operating on horizontal surface.

§ Tripping hazards – The Robotic ClimberTM has a significant tether of lines (see Figure 4.) including water lines, vacuum, and control lines from the operator unit that need to be neatly laid out to avoid becoming a tripping hazard. The constant dragging of the lines by the robot required regular adjustment by a worker tending the operation when the robot operates on a horizontal surface. The lines

present increased tripping hazards. § Ergonomics – The Robotic ClimberTM is a

marked improvement over conventional blasting techniques for decreasing the ergonomic strain on the operator. The worker who must regularly move the hoses is at increased risk of a back injury, however.

§ Heat stress - The reduced need for heavy garments means a decrease risk of heat

stress illness. The risk is not eliminated, however, given the wide range of possible work environments for the Robotic ClimberTM. Heat stress training is still advisable.

INDUSTRIAL HYGIENE MONITORING METHODS Noise Personal noise monitoring was conducted using Metrosonics db-3100 data logging noise dosimeters. Calibration was conducted pre- and post-monitoring using a Metrosonic CL304 acoustical calibrator. Dust Dust monitoring was conducted by drawing air with a MSA Escort Elf air sampling pump through a pre-weighed PVC 37 mm filter in a sampling cassette. Sampling and analysis followed the NIOSH 0500 gravimetric method for total dust. The cassettes were preweighed and analyzed by Galson Laboratories, an AIHA-Accredited lab. Pre- and post-sampling calibration was accomplished using a BIOS International DryCal DC1 primary calibration system. The level of quantification reported by the lab was 0.05 mg. Heat Stress Heat stress was measured using a QuestTemp015 Heat Stress Monitor. The wet-bulb globe temperature (WBGT) was used to determine the work/rest regimen in accordance with the ACGIH recommendations. The wet-bulb globe temperature was adjusted for the type of clothing, including personal protective equipment (PPE), that the worker was wearing in accordance with ACGIH guidelines.

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RESULTS Noise (readings taken 12-9-98)

Area sample

31001 Area sample 31002

Area sample 31003

Area sample 31004

Sampling Location

Edge of work area (approx. 2 ft. from operating robot) during wall blasting

Operator station (approx. 4 ft. from operating robot) during wall blasting



Sampling period (minutes)

95 93 153 151

Avg. exposure (dBA)

98.3 97.1 95.1 93.4

Percent dose

63.46% 52.30% 65.31% 50.73%

Projected percent dose over 8 hrs.

319.55% 267.41% 204.40% 160.91%

Max exposure (dBA)

112.2 107.6 117.8 115.3

Peak exposure (dBA)

134.8 135.8 137.8 >140.0

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Noise (readings taken 12-10-98)

Area sample 31005

Area sample 31006

Area sample 31007

Area sample 31008

Sampling Location

Edge of work area (approx. 2-6 ft. from operating robot) during wall blasting

Operator station (approx. 4-6 ft. from operating robot) during wall blasting

Area of high pressure pump (located behind wall where robot being operated)



103 53 126 120

Avg. exposure (dBA)

107.4 107.0 103.9 104.5

Percent dose

241.30% 117.50% 181.30% 188.82%

Projected percent dose over 8 hrs.

1121.15% 1053.03% 690.44% 749.05%

Max exposure (dBA)

113.8 111.1 123.0 118.1

Peak exposure (dBA)

134.8 148.2 >140.0 129.6

The “average exposure” above reflects the noise levels averaged for each one-minute period of time. The maximum exposure during each one of those periods is listed in the tables above as “maximum exposure”. These are lower than “peak exposures” which are the highest instantaneous readings. The OSHA “action level” for noise under 29 CFR 1910.95 is 85 dBA, averaged over an 8-hour time period. From OSHA’s Hearing Conservation Amendment of 1983, exceeding this level means the employer must administer a continuing, effective hearing conservation program. OSHA also requires that workers exposed above 90 dBA as an 8-hour time weighted average (TWA) must be protected - preferably through engineering or administrative controls. If neither is feasible, PPE (hearing protection), must be provided by the employer. The noise levels measured were over the OSHA Permissible Exposure Limit, which is common for high pressure blasting techniques. The noise levels were also increased

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any time the robot lost contact with the surface being cleaned and this is reflected in the noise levels seen in the above tables. Engineering design is the first choice for the control of exposures, including noise, but disposable insert-type plugs and ear muffs, when used properly, can reduce potentially hazardous sound levels to non-harmful levels for most types of industrial noise environments. Laboratory measurements have shown that almost every hearing protector can provide 25 dB or more of attenuation but there may be significant differences between lab results and actual protection levels in the field because performance is highly dependent on the fit of the device being used. Factors such as sweating can reduce the protection to 10 dB. 1 Dust

Sample Number 120898-01 120898-002 121098-

004 121098-005

Instrument Serial #

MSA 004 MSA 003 MSA 003 MSA 004

Type of sample

Area Area Area Area

Sampling Location



Operator station (approx. 4-8 ft. from operating robot) during wall blasting



214 136 98 142

Sampling rate (liters/minute)

2.05

1.98 1.965 2.025

Volume collected (liters)

438.7 269.28 192.57 287.55

Mass (mg)

<0.05 <0.05 .081 .101

Concentration (mg/m3)

<0.11 <0.19 0.42 0.35

1 H.R. Kavianian and C.A. Wentz. (1990). Occupational and Environmental Safety Engineering and Management. New York: Van Nostrand Reinhold. p. 203.

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These dust concentrations are all well below the OSHA Permissible Exposure Limit of 15 mg/m3

for total dust and the ACGIH Threshold Limit Value of 10 mg/m3 . Only two samples had a measurable amount of dust, the others were below the lab’s limit of quantification. The Robotic ClimberTM is a wet process and therefore, it would be expected that dust of any measurable or significant amount would not be produced. Heat Stress

The Wet Bulb Globe temperature represents the integration of all the key physical indicators of heat stress: the wet bulb (WB) reflects the effect of humidity, the globe (GT) indicates the degree of radiant heating, and the dry bulb (DB) corresponds to the ambient temperature. These measurements are combined in the following formula for indoor readings or outdoor readings with no solar load: WBGT = 0.7 WB + 0.3 GT For outdoor exposures, the effect of the black globe temperature is reduced by including the ambient, dry bulb reading as indicated: WBGT = 0.7 WB + 0.2 GT + 0.1 DB The American Conference of Governmental Industrial Hygienists TLV for heat stress are based on the WBGT readings, the intensity of the work being performed, and the type of clothing being worn. The ACGIH recommends that for lightly clothed individuals performing continuous light work, such as operating the Robotic ClimberTM remote controls, the WBGT be maintained below 86 degrees Fahrenheit. The sampling period covered three average December days in Miami. The WBGT values measured were acceptable for all three days. Workers always need to avail themselves of water available at the test site. Unacclimatized crews should take more advantage of the air conditioned field office at FIU. HUMAN FACTORS INTERFACE The Robotic ClimberTM represents a major improvement in human factors engineering over standard blasting techniques where often the worker must work in a special suit to protect against hazards such as reflected debris. These type of suits do not have to be worn by the Robotic ClimberTM operator but some PPE may still be necessary. It is possible that the distance cannot be increased sufficiently to reduce the noise level to the point that hearing protection is not necessary. The choice of PPE will depend on the type and amount of contaminants generated by the surface decontamination. Contaminants should be identified by the site characterization prior to the start of an actual decontamination project. The amount of air borne contaminants being generated will be identified by air sampling conducted during operation of the Robotic ClimberTM. Of important note, total dust sampling was conducted during the Miami test because, in the absence of specific contaminants, it

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was the only approach available. Total dust measurements will be the least appropriate during actual operation of the Robotic ClimberTM, however. Industrial hygiene samples will need to be collected for the contaminants present which can reasonably be expected to include lead from lead-based paint, other heavy metals, and radionuclides. The interface of operator and machine is a major advantage for the Robotic ClimberTM technology. The ability to operate the unit remotely at distances of up to 500 feet away greatly reduces noise and airborne contaminant exposures to the operator, particularly compared to standard blasting techniques. However, the configuration of the operator control panel needs some consideration. The control panel was mounted on the top of one of the transport boxes and there was not any mechanism by which the height could be changed. Mounting the control station on something that is adjustable would allow the operator to raise or lower the station to be at the correct height for him or her. While the operators were well trained in the operation of the Robotic ClimberTM and its controls, labeling controls to avoid error of operation especially in an emergency situation is advisable. A major human factors issue is the need to regularly move and adjust the hose as the blasting proceeds, especially on horizontal surfaces. This work requires bending and pulling the heavy hose and also exposes the worker to more noise and airborne contaminants than the operator. Some type of mechanism for management of the hoses needs to be considered. Finally, the ability to use distance to protect the operator must be balanced with his or her needs to observe the effectiveness of the surface removal. It is possible that contractual obligations for achieving an end state may necessitate moving the operator much closer to the blast area. There can be great variability in the distance that different operators establish as their ideal work station. Consequently, air and/or noise monitoring results for one operator may not be representative for other jobs, even if the surface and coatings are identical. TECHNOLOGY APPLICABILITY The technology appears fully capable of removing surface coatings from wall surfaces and from floors. The ability to do this with the operator removed from the blast area means much less risk and fatigue to the workers. Since this is a wet process, the likelihood of air borne contaminants is greatly reduced. Like most standard blasting technologies, the Robotic ClimberTM technology produced an excessive amount of noise during operation. It is possible that the exposure to the operator could be lowered below the OSHA Action Level on some projects. Given the results from this test, it is reasonable to assume that most projects will require hearing protection. In the absence of appropriate measurements to the contrary, management should assume that noise exposures will require a complete hearing conservation program.

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The suction provided by the Robotic ClimberTM during blasting was truly impressive and along with being a wet process resulted in measured dust levels far below the OSHA PEL. There are three caveats, however, to allowing workers to operate the equipment without any PPE: 1. The results where total dust samples and levels of particular contaminants could be

proportionately higher; 2. There were times when the vacuum was lost and the Robotic ClimberTM lost contact

with the surface which has the potential to allow a contaminant release; and 3. The exposures to the worker could possibly be higher than the blaster, depending on

the former’s work practices.

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SECTION 4 - JOB SAFETY ANALYSIS

JOB SAFETY ANALYSIS BARTLETT SERVICES, INC.

ROBOTIC CLIMBERTM

HAZARD CORRECTIVE ACTION UNLOADING EQUIPMENT/SETUP

Pinch points

§ Use hand protection. § Use proper hand tools for the job.

Slips/Trips/Falls § Organize materials in storage. § Direct workers around areas that are

congested, slippery, or contain tripping hazards.

§ Mark, isolate, and bunch together tripping hazards.

Struck-by/Caught between § Use appropriate hand signals when using a fork lift to unload the equipment.

§ Plan the lifting of equipment and make everyone aware of the route and final location.

§ Prohibit workers from being between moving and stationary objects at all times.

§ Keep personnel clear of moving objects.

Muscular/back injury (from setting up equipment)

§ Train workers about safe lifting techniques.

§ Avoid manual lifting as much as possible through use of equipment such as forklift or crane.

OPERATION OF THE ROBOTIC CLIMBERTM Struck-by hazard from air-line § Inspect all air lines and secure with

safety pin before operation. § Use safety line (in addition to pin)

between male and female ends of connectors.

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HAZARD CORRECTIVE ACTION

OPERATION OF ROBOTIC CLIMTERTM (CONTINUED) Injury from accidental release of Robotic ClimberTM from vertical or overhead surface.

§ Do not allow workers near the blasting unit during operation.

§ Ensure the support cables are sufficiently tight to keep the unit from dropping during a loss of vacuum.

§ Ensure a fall arrest system on wench used to tension cables of safety system.

Exposure to noise § Assess entire Robotic ClimberTM for feasible engineering controls.

§ Use appropriate distances for the remote operation to reduce exposures.

§ Use proper hearing protection devices.

§ Include in a hearing conservation program to ensure there is no hearing loss.

Exposure to contaminant § Evaluate toxicity of the contaminants on each project to determine if addition engineering controls or PPE are necessary.

Restricted communication (associated with noise generated)

§ Use hand signals as SOP’s.

MAINTENANCE

Exposure to contaminants § Use appropriate PPE, including respiratory protection.

Injury from accidental activation of moving parts

§ Assure appropriate lockout/tagout program is used before any maintenance is conducted.

Pinch Points § Use hand protection. § Use hand-held tools appropriate for

the job. § Use appropriate lockout/tagout

procedures. Slips/Trips/Falls § Organize materials (housekeeping).

§ Walk around areas that are congested/slippery when possible.

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HAZARD CORRECTIVE ACTION

MAINTENANCE (CONTINUED) Ergonomics stressors § Limit duration of work.

§ Use proper lifting techniques. § Provide ergonomic training to include

proper lifting techniques.

DECONTAMINATION OF SYSTEM

Exposure to contaminants § Use appropriate PPE, including respiratory protection.

Injury from accidental activation of moving parts

§ Assure appropriate lockout/tagout program is used before any decontamination activities are conducted.

Pinch Points § Use hand protection. § Use hand-held tools appropriate for

the job. § Use appropriate lockout/tagout

procedures. Ergonomics stressors § Limit duration of work.

§ Use proper lifting techniques. § Provide ergonomic training to

include proper lifting techniques.

LOADING/TEAR DOWN

Pinch points § Use hand protection. § Use proper hand tools for the job.

Slips/Trips/falls § Ensure awareness of specific hazards.

§ Organize materials (housekeeping). § Avoid areas that are congested when

possible. Struck-by/Caught between

§ Ensure workers are aware whenever equipment is being moved.

§ Prohibit worker from being between moving and stationary objects.

§ Keep personnel clear of moving objects.

Muscular/back injury (from disassembling equipment)

§ Provide ergonomic training to include safe lifting techniques.

§ Use equipment such as forklift or crane for loading.

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SECTION 5 - FAILURE MODE AND EFFECTS ANALYSIS

FAILURE MODE AND EFFECTS ANALYSIS BARTLETT SERVICES, INC.

ROBOTIC CLIMBERTM

FAILURE MODE EFFECT Air line ruptures or disconnects § Injury to worker from being struck by

air line. § Injury to worker from being struck by

high pressure air. Safety pin on air line breaks § Injury to worker from being struck by

air line. § Injury to worker from being struck by

high pressure air. Vacuum system fails or shuts down § Suction loss at the blast unit causes

unit to drop from vertical surface potentially injuring worker if safety cables aren’t taut enough.

§ Contaminants released at the blast unit, exposing worker.

Vacuum hose to the blasting head crimps as the unit moves along

§ Suction drops to the point where the unit releases from the surface, potentially injuring worker.

§ Pressure drop is not sufficient to release the unit but does release contaminants, exposing worker.

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SECTION 6 - TECHNOLOGY SAFETY DATA SHEET

TECHNOLOGY SAFETY DATA SHEET Bartlett Services Inc.

Robotic ClimberTM

SECTION 1: TECHNOLOGY IDENTITY

Emergency Contact: Paul Lovendale, Vice President Business Development 800-225-0385 (toll free) 508-746-6464 (local)

Information Contact: Paul Lovendale, Vice President Business Development 800-225-0385 (toll free) 508-746-6464 (local)

Manufacturer’s Name and Address: Bartlett Services Inc. PO Box 1800 60 Industrial Park Road Plymouth, MA 02362

Date Prepared: February 2001

Other Names: None

Signature of Preparer: Operating Engineers National Hazmat Program 1293 Airport Road, Beaver, WV 25813 Phone 304-253-8674, Fax 304-253-1384 Under cooperative agreement DE-FC21-95 MC 32260

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SECTION 2: PROCESS DESCRIPTION

The Robotic ClimberTM uses an ultra high pressure water jetting within a contained vacuum shroud to remove and capture surface contaminants during surface decontamination, coating removal, and concrete scabbling. The technology offers several major advantages. One major advantage of the Robotic ClimberTM is that the system can be operated remotely which means the operator controls the blasting from a portable console which is much less physically tiring than handling a standard blast nozzle. It also reduces, through distance, the operators exposure to dust and noise. The Robotic ClimberTM H-1 model is a remote controlled, free climbing robot using ultra high pressure water jetting within a contained vacuum shroud. This technology employs a self-propelled, remotely operated robotic device designed for surface decontamination, coating removal, and concrete “scabbling”. Variable water pressure (0 to 36,000 psi) at low consumption rates is the medium used by this H-1 model. Adhesion to the surface is achieved using vacuum, enabling the robot to perform on vertical or inverted surfaces as well as horizontal flats and sloped surfaces. This vacuum also serves to capture the water from the removal process as well as the waste. Once captured the waste/water is transported to a holding tank for future treatment or processing.

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SECTION 3: TECHNOLOGY PHOTOS

Figure 1. Robotic ClimberTM operating on test wall.

Figure 2. Robotic ClimberTM operating on test ceiling.

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SECTION 4: CONTAMINANTS AND MEDIA

Dust from the blasting operation is well contained by the strong vacuum created to hold the Robotic ClimberTM to the work surfaces. The dust generated may contain coating, subsurface, and blasting material. The possible contaminants will need to be identified as part of a site characterization prior to the beginning of the job. A monitoring plan will need to be considered on a site-by-site and job-by-job basis. Since the Robotic ClimberTM is a wet process, the possibility of dust generation is negligible.

SECTION 5: ASSOCIATED SAFETY HAZARDS

Probability of Occurrence of Hazard: 1 Hazard may be present but not expected over background level 2 Some level of hazard above background level known to be present 3 High hazard potential 4 Potential for imminent danger to life and health

A. ELECTRICAL (LOCKOUT/TAGOUT) RISK RATING: 2

The operation of the Robotic ClimberTM uses a 12 volt system for the emergency stop. There are however, other hazards that must be considered for lockout/tagout during maintenance activities, compressed air and high pressure water.

B. FIRE AND EXPLOSION RISK RATING: 1

There is little risk from the normal operation of the Robotic ClimberTM but the equipment is not intrinsically safe and could not be used in a potentially explosive atmosphere. The wet process and the immediate removal of dusts effectively eliminates the potential for a dust explosion.

C. CONFINED SPACE ENTRY RISK RATING: 4

Working with the Robotic ClimberTM in any work area that meets the definition of a confined space provides the potential for serious harm. All such projects must be planned carefully and compliance with OSHA standards is essential to protect workers.

D. MECHANICAL HAZARDS RISK RATING: 4

Operating the Robotic ClimberTM vertically or upside down poses increased risks of the blaster releasing from the surface and falling on workers. The safety cables are there to prevent this but must be rigged properly to provide the appropriate safety margin. There should be a fall arrest brake on the wench used to tighten the safety cables. Additionally, on vertical and inverted horizontal surfaces, workers need to stay back from the blasting unit during operation to avoid mechanical hazards.

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SECTION 5: ASSOCIATED SAFETY HAZARDS (Continued) E. PRESSURE HAZARDS RISK RATING: 3

The blast hose and the large vacuum lines present a potential struck-by hazard if they were to rupture or disconnect. The compressed air supply also presents a potential hazard.

F. TRIPPING AND FALLING RISK RATING: 4

The large vacuum, high pressure hoses, and tether line are tripping hazards that routinely change position. In addition, this is a wet process and proper precautions need to be taken when walking on wet surfaces.

G. LADDERS AND PLATFORMS RISK RATING: 2

The Robotic ClimberTM eliminates the need for ladders and scaffolds associated with normal blasting but it may still be necessary to work on ladders occasionally, particularly when rigging the safety cables. This is a wet process, therefore, ladders should have anti-slip feet and steps.

H. MOVING VEHICLES RISK RATING: 3

The presence of multiple pieces of mobile equipment (which may be needed to unload and load technology) in relationship to a small area of operation may pose a significant danger. Sufficient warning devices such as horns, bells, lights, and back up alarms should be used. Several of the pieces of the Robotic ClimberTM require large forklifts to safely handle the load. OSHA’s industrial lift truck standard must be complied with to avoid incidents during the loading and unloading of the Robotic ClimberTM. The technology vendor did have a 10 feet radius area around the operating robot as a standard operating procedure.

I. BURIED UTILITIES, DRUMS, AND TANKS RISK RATING: N/A

Not part of this technology.

J. PROTRUDING OBJECTS RISK RATING: 1

If any of the ancillary equipment, such as the high pressure pump is located on a trailer, hitches should be clearly marked to avoid running into them.

K. GAS CYLINDERS RISK RATING: 1

Gas cylinders on the high pressure pump should be covered with caps while they are not in use, during transportation, and/or when being changed. Cylinders should be clearly marked and labeled and appropriately stored.

L. TRENCHING AND EXCAVATIONS RISK RATING: N/A


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SECTION 5: ASSOCIATED SAFETY HAZARDS (Continued) M. OVERHEAD LIFTS RISK RATING: 3

Unloading and loading of technology may require overhead lifts or the use of a forklift. Proper precautions indicated.

N. OVERHEAD HAZARDS RISK RATING: 4

The operation of the Robotic ClimberTM vertically or upside-down on the undersides of horizontal surfaces requires great diligence because of the heightened possibility of accidental loss of suction and release of the blast unit. Even with proper safety cable rigging, the unit can drop enough to hurt workers immediately adjacent to the operation. If the cables are improperly rigged, the unit could fall completely, potentially killing someone underneath. Consequently, good work practices must be emphasized. Workers must be kept out from underneath the Robotic ClimberTM at all times.

SECTION 6: ASSOCIATED HEALTH HAZARDS

Probability of Occurrence of Hazard: 1 Hazard may be present but not expected over background level 2 Some level of hazard above background level known to be present 3 High hazard potential 4 Potential for imminent danger to life and health

A. INHALATION HAZARD RISK RATING: 1

Dust exposure is greatly reduced during the operation of the Robotic ClimberTM, due to the wet technique and the strong vacuum used.

B. SKIN ABSORPTION RISK RATING: 1

There is no significant risk for skin absorption posed by operating the Robotic ClimberTM. Since this is a wet process, consideration does need to be given to the type of personal protective equipment. Cotton anti-contamination suits may allow radiation to get to the skin from soaking through the cotton garment.

C. HEAT STRESS RISK RATING: 1-4

Given the closed-loop design of the Robotic ClimberTM, workers should be able to operate the system wearing limited personal protective equipment. This should greatly reduce the heat stress level compared to standard blasting. The work environment can still be hot, however, and heat stress precautions should be taken.

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SECTION 6: ASSOCIATED HEALTH HAZARDS (Continued) D. NOISE RISK RATING: 4

Noise exposure at the point of operation is excessive. Noise monitoring has shown values well in excess of the OSHA Permissible Exposure Limit for an 8-hour work shift. The remote operation of the Robotic ClimberTM is an engineering control that clearly reduces exposure. The critical factor is the distance. The need to inspect the quality of the work may require the operator to be overexposured. Therefore, other feasible engineering controls, administrative controls, and hearing protection may be needed. Workers may need to be included in a hearing conservation program.

E. NON-IONIZING RADIATION RISK RATING: N/A


F. IONIZING RADIATION RISK RATING: N/A


G. COLD STRESS RISK RATING: 1

Technology does not produce a hazard but ambient conditions need to be considered.

H. ERGONOMIC HAZARDS RISK RATING: 3

The remote operation of the Robotic ClimberTM greatly reduces the stresses and strains on the body that are a normal part of blasting. Regularly moving the large vacuum hose and pressure lines, however, introduces increased risk of back problems because of the poor postures involved with the lift and the bulkiness of the items. Design of some of the robots controls could contribute to repetitive motion injuries. There is also potential for back/neck/shoulder strain while lifting the Robotic Climber to the wall or ceiling surface. Mechanical lifting devices should be used whenever possible.

I. OTHER RISK RATING: 2

There are communication problems due to the noise generated by operation of the technology. Workers need to receive training to ensure that everyone understands the key hand signals involved in safely operating the Robotic ClimberTM.

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SECTION 7: PHASE ANALYSIS

A. CONSTRUCTION/START-UP

The set-up phase requires the unloading of several pieces of equipment. This must be done with large forklifts, given the size of several pieces of the equipment. Given that most of this will be done on construction sites, there are significant risks associated with vehicles moving on uneven ground with large loads. Setting up the system also involves connecting hoses for the vacuum and blasting. There is also considerable hoisting and rigging needed to attach the safety cables to the robot blaster. This phase presents several hazards including struck-by/caught between hazards, pinch points, slips/trips/falls, muscular/back injury, high pressure hazards, and burn hazards from the high pressure water being hot.

B. OPERATION

The operational phase presents several hazards including: § Potential exposure to contaminants, § Noise hazards, § Risks from high pressure, § Burn hazards from high pressure water being hot, § Fall from above hazards (robot releases from wall/ceiling), § Ergonomic hazards -- moving vacuum and high pressure hoses, § Potential for repetitive motion injures from robot controls.

C. MAINTENANCE

Routine maintenance may require respiratory protection, depending on the toxicity of the contaminant and the part of the system that is being worked on. Any maintenance work is particularly hazardous if the blasting unit is still suspended on a vertical surface. Lockout/tagout programs must be carefully followed to avoid a serious injury. There are also numerous pinch point areas when changing the rubber tube seal and/or the track.

D. DECOMMISSIONING

The decommissioning phase presents several hazards including exposure to the contaminants, pinch points, slips/trips/falls, and muscular/back injury.

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SECTION 8: HEALTH AND SAFETY PLAN REQUIRED ELEMENTS (If this technology is used on hazardous waste sites, the following information should be included in the written Health and Safety Plan that is required by OSHA under 29 CFR1910.120.

A. AIR MONITORING

Air monitoring of personnel exposures to toxic substances is warranted; the results can document the effectiveness of the wet process and the strong suction on the blast unit. Air monitoring is particularly critical when the surfaces to be removed are contaminated with radioactive materials or highly toxic agents. Airborne contamination coul be a problem if the O-ring tube-type seal loses contact with the surface being blasted.

B. WORKER TRAINING

Worker training is an important element in preventing injuries. Training in the operation of the Robotic ClimberTM is obviously important. Special emphasis should be placed on training workers to operate the controls of the remote station because operation is not intuative. Other safety and health training that may prove helpful for the workers includes but may not be limited to: § Hoisting and rigging the safety cables for the robot blaster, § HAZWOPER (Hazardous Waste Operations and Emergency Response), § HAZCOM (Hazard Communication), § Respiratory Protection, § Hearing Conservation, § Ergonomics (proper lifting, bending, stooping, kneeling), § Heat Stress (learning to recognize signs and symptoms), § Personal Protective Equipment, § High pressure hazards, § Lockout/Tagout, § Hand Signal Communication, and § Construction Safety (OSHA 500).

C. EMERGENCY RESPONSE

Emergency response planning for a site needs to assure adequate coverage for hazards described in the TSDS. Having at least one worker per shift trained in CPR and first aid is recommended. The worst-case scenarios at each site should be discussed by the crew and plans should be made on how to deal with each scenario.

D. MEDICAL SURVEILLANCE

A general screening of worker’s health with emphasis on the back and cardiovascular/respiratory system is usually warranted. Depending on the contaminant present, medical surveillance may be required by OSHA standards. Initial and annual audiograms may also be required because of the noise levels.

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SECTION 8: HEALTH AND SAFETY PLAN REQUIRED ELEMENTS (Continued) (If this technology is used on hazardous waste sites, the following information should be included in the written Health and Safety Plan that is required by OSHA under 29 CFR1910.120.

E. INFORMATIONAL PROGRAM

Workers must be trained in specific operation of equipment before use.

SECTION 9: COMMENTS AND SPECIAL CONSIDERATIONS The Robotic ClimberTM technology is more protective of workers than standard blasting in many ways. But only personnel who have been adequately trained should attempt to operate the technology. Attaching the safety cables requires expertise in hoisting and rigging. Failure to hook the cables correctly can potentially cause the unit to fall during operation, resulting in serious injuries or possibly death.

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SECTION 7 - EMERGENCY RESPONSE/PREPAREDNESS

The use of the Robotic ClimberTM technology does not present any serious concerns for generating emergency situations that would affect the surrounding operations or communities. Emergency response/preparedness should be part of every hazardous waste site safety and health plan. In addition to credible site emergencies, site personnel must plan for credible emergencies in connection with the Robotic ClimberTM technology. SECTION 8 - REGULATORY/POLICY ISSUES The site safety and health personnel where the Robotic ClimberTM technology is being used need to be concerned with safety and health regulations applicable to the issues discussed above. The following OSHA regulations may apply to the operation of the Robotic ClimberTM and should be reviewed. § OSHA 29 CFR 1926.251 Rigging equipment for material handling § OSHA 29 CFR 1926.25 Housekeeping § OSHA 29 CFR 1910.141 Sanitation (1910.141(a)(3) covers housekeeping) § OSHA 29 CFR 1926 Subpart Z Toxic and Hazardous Substances § OSHA 29 CFR 1910 Subpart Z Toxic and Hazardous Substances § OSHA 29 CFR 1910.1200 Hazard Communication § OSHA 29 CFR 1926.59 Hazard Communication § OSHA 29 CFR 1910.120 Hazardous Waste Operations and Emergency Response § OSHA 29 CFR 1926.65 Hazardous Waste Operations and Emergency Response § OSHA 29 CFR 1910 Subpart M Compressed Gas and Compressed Air Equipment § OSHA 29 CFR 1926.803 Compressed Air § OSHA 29 CFR 1910 Subpart O Machinery and Machine Guarding § OSHA 29 CFR 1910.147 The Control of Hazardous Energy (Lockout/Tagout) § OSHA 29 CFR 1926.52 Occupational Noise Exposure § OSHA 29 CFR 1910.95 Occupational Noise Exposure § OSHA 29 CFR 1926.103 Respiratory Protection § OSHA 29 CFR 1910.134 Respiratory Protection § OSHA 29 CFR 1910 Subpart I Personal Protective Equipment § OSHA 29 CFR 1926.102 Eye and Face Protection § OSHA 29 CFR 1926.28 Personal Protective Equipment

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Figure 5: Robotic Climber Attached to safety cables.

Worker training is essential to safe operation. The following training may be required and, if not required, should be considered to ensure the protection of workers. § HAZWOPER § HAZCOM § Respiratory Protection § Hearing Conservation § Personal Protective Equipment § High Pressure Hazards § Lockout/Tagout § Ergonomics (proper lifting, bending, stooping, kneeling, and static postures) § Heat stress (learning to recognize signs and symptoms) § CPR/First Aid/Emergency Response/Blood-borne Pathogens § Hand Signal Communication § Construction Safety (OSHA 500) and or General Industry Safety (OSHA 501) § Hoisting & Rigging § Forklift SECTION 9 - OPERATIONAL CONSIDERATIONS & RECOMMENDATIONS Specific recommendations include: § Consider developing guidance for using

the winches and safety cables. This system prevents the life-threatening injuries that could result if the robot blaster fell from a vertical surface or from the underside of a horizontal surface. See Figure 5. Correctly setting up the system is neither obvious nor easy and, consequently, improper rigging can result.

§ Consider further noise exposure

monitoring using octave band analysis to determine if engineering controls may be feasible to reduce the noise level during operation of the Robotic ClimberTM. Noise monitoring showed values in excess of the OSHA PEL and ACGIH TLV.

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Figure 6: Robotic Climber operating on horizontal surface with

water leakage.

§ Consider issuing specific guidelines for operating the Robotic ClimberTM on surfaces that pose additional risk of suction loss. When suction, and therefore, contact with the surface is lost, water tends to leak from under the unit. The robot may then run through the waste causing it to smear contamination on the surface or the contamination could become airborne.

§ Decontamination with the Robotic ClimberTM is

a wet process, therefore, there is always the possibility that the walking surfaces will be wet. See Figure 6. Workers should wear anit-slip footwear and ladders should have anti-slip feet and steps. All wet walking surfaces should be cleaned as soon as possible.

§ There is the possibility of severe ergonomic hazards if the workers manually lift the

Robotic ClimberTM to the wall/ceiling surface (the robot weights approximately 80 pounds). Mechanical lifts should be used for this purpose.

§ Due to high noise levels, communication is difficult during operation of the Robtic

ClimberTM. Since several workers are needed to operate the robot, training to assure that they are all familiar with and use hand signals for communication needs to be done.

§ The control panel was mounted on the top

of one of the transport boxes. See Figure 7. The control panel should be mounted on a stand that would allow the operator to raise or lower the height of the controls so they would be at the correct height for each operator. Additionally, the controls were not labeled, labeling of controls to avoid confusion, particularly in an emergency situation is imperative.

§ The operator controls are levers with a ball-type design on the top. The levers move

in a forward/backward direction and require a medium amount of pressure to move. They also do not lend themselves to an intuitive understanding of operation of the robot. A joystick design may be more intuitive and offer smoother operation. Additionally, if the ball on top of the lever were padded it would relieve pressure points being placed on the hand.

Figure 7: Operator station

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§ There are times during the operation of the Robotic ClimberTM, horizontal surface operation, when a worker must constantly manage the lines (move around the water supply line, tether line, and vacuum line). This not only places ergonomic stressors on the worker but also requires that a worker be in the contaminated area and also exposes the worker to higher noise levels. An automatic system to control and manage the lines needs to be considered.

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APPENDIX A

REFERENCES Occupational Safety and Health Standards for General Industry, 29 CFR Part 1910, Occupational Safety and Health Administration United States Department of Labor Occupational Safety and Health Standards for the Construction Industry, 29 CFR Part 1926, Occupational Safety and Health Administration United States Department of Labor Threshold Limit Values (TLVs) for Chemical Substances and Physical Agents and Biological Exposure Indices (BEIs), American Conference of Governmental Industrial HygieniMHI, 1995-1996 The NIOSH compendium of hearing protection devices, U.S. Department of Health and Human Services, Public Health Service, Center for Disease Control and Prevention, October 1994

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APPENDIX B Noise Sampling

31001

The percentage of time spent at each decibel level can be obtained from the graph. As shown, 15.871% of the time the noise exposure was less than 85 dBA which means 84.129% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken approximately 2 feet from where the Robtic ClimberTM was operating.

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Noise Sampling 31002

The percentage of time spent at each decibel level can be obtained from the graph. As shown, 13.610% of the time the noise exposure was less than 85 dBA which means 86.390% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken at the operator station, approximately 4 feet from where the Robtic ClimberTM was operating.

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The percentage of time spent at each decibel level can be obtained from the graph. As shown, 45.6120% of the time the noise exposure was less than 85 dBA which means 54.388% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken approximately 2 feet from where the Robtic ClimberTM was operating.

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The percentage of time spent at each decibel level can be obtained from the graph. As shown, 47.140% of the time the noise exposure was less than 85 dBA which means 52.860% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken at the operator station, approximately 4 feet from where the Robtic ClimberTM was operating.

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The percentage of time spent at each decibel level can be obtained from the graph. As shown, 8.953% of the time the noise exposure was less than 85 dBA which means 91.047% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken approximately 2-6 feet from where the Robtic ClimberTM was operating.

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The percentage of time spent at each decibel level can be obtained from the graph. As shown, 0.00% of the time the noise exposure was less than 85 dBA which means 100.00% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken at the operator station, approximately 2-6 feet from where the Robtic ClimberTM was operating.

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The percentage of time spent at each decibel level can be obtained from the graph. As shown, 9.830% of the time the noise exposure was less than 85 dBA which means 90.170% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken at the high pressure pump, located behind the wall where the Robtic ClimberTM was operating.

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The percentage of time spent at each decibel level can be obtained from the graph. As shown, 8.599% of the time the noise exposure was less than 85 dBA which means 91.401% of the time was spent at sound levels above 85 dBA. OSHA requires that a hearing conservation program be initiated if the 8-hour TWA is 85 dBA. This area sample was taken approximately 2-8 feet from where the Robtic ClimberTM was operating.

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APPENDIX C ACRONYMS

ACGIH - American Conference of Governmental Industrial Hygienists AIHA - American Industrial Hygiene Association AVG - Average CFM - Cubic feet per minute CFR - Code of Federal Regulations dB - Decibel DB - Dry Bulb FIU - Florida International University FMEA - Failure Mode and Effects Analysis GT - Globe Temperature HAZWOPER - Hazardous Waste Operations and Emergency Response HAZCOM - Hazard Communication JSA - Job Safety Analysis MSA - Mine Safety Appliances NIOSH - National Institute of Occupational Safety and Health OSHA - Occupational Safety and Health Administration PEL - Permissible exposure limit PPE - Personal protective equipment TLV - Threshold limit value TSDS - Technology safety data sheet TWA - Time weighted average WB - Wet bulb WBGT - Wet bulb globe temperature

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