Plant Decommissioning Team Members comprised the majority of the team that designed the 4-axis robotic manipulator arm to plasma cut the TMI-2 lower internals.  In addition, PD designed a full size mockup to simulate part of the lower internals, as well as calculated optimum cut paths for component removal and waste packaging (later called a Segmentation and Packaging Plan).  PD was  also responsible for the design of the end effectors and delivery tools.