Development of a remote tank inspection robotic system
RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-{ell} (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer (located up to 30.5 m (100 ft) away from the tank site). All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation.
- OSTI ID:
- 5881973
- Report Number(s):
- CONF-901101-; CODEN: TANSA
- Journal Information:
- Transactions of the American Nuclear Society; (USA), Vol. 62; Conference: American Nuclear Society (ANS) winter meeting, Washington, DC (USA), 11-15 Nov 1990; ISSN 0003-018X
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND TECHNOLOGY
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
CONTAINMENT SYSTEMS
INSPECTION
HIGH-LEVEL RADIOACTIVE WASTES
UNDERGROUND STORAGE
IDAHO CHEMICAL PROCESSING PLANT
ROBOTS
PHYSICAL RADIATION EFFECTS
REMOTE VIEWING EQUIPMENT
ACTUATORS
ARTIFICIAL INTELLIGENCE
CONTROL SYSTEMS
DECOMMISSIONING
DECONTAMINATION
DEGREES OF FREEDOM
DESIGN
ENVIRONMENT
MAINTENANCE
MOTORS
NOZZLES
OPERATION
PERFORMANCE
PROGRAMMING
RADIATION HAZARDS
RADIOACTIVE WASTE MANAGEMENT
RADIOACTIVE WASTE PROCESSING
RELIABILITY
CLEANING
CONTAINMENT
ENGINEERED SAFETY SYSTEMS
EQUIPMENT
FUEL REPROCESSING PLANTS
HAZARDS
HEALTH HAZARDS
MANAGEMENT
MATERIALS
NATIONAL ORGANIZATIONS
NUCLEAR FACILITIES
PROCESSING
RADIATION EFFECTS
RADIOACTIVE MATERIALS
RADIOACTIVE WASTES
STORAGE
US AEC
US DOE
US ERDA
US ORGANIZATIONS
WASTE MANAGEMENT
WASTE PROCESSING
WASTES
052001* - Nuclear Fuels- Waste Processing
050800 - Nuclear Fuels- Spent Fuels Reprocessing
420203 - Engineering- Handling Equipment & Procedures
440200 - Radiation Effects on Instrument Components
Instruments
or Electronic Systems
990200 - Mathematics & Computers