BOA: Pipe-asbestos insulation removal robot system
- and others
This paper describes the BOA system, a mobile pipe-external crawler used to remotely strip and bag (possibly contaminated) asbestos-containing lagging and insulation materials (ACLIM) from various diameter pipes in (primarily) industrial installations across the DOE weapons complex. The mechanical removal of ACLIM is very cost-effective due to the relatively low productivity and high cost involved in human removal scenarios. BOA, a mechanical system capable of removing most forms of lagging (paper, plaster, aluminum sheet, clamps, screws and chicken-wire), and insulation (paper, tar, asbestos fiber, mag-block) uses a circular cutter and compression paddles to cut and strip the insulation off the pipe through compression, while a HEPA-filter and encapsulant system maintain a certifiable vacuum and moisture content inside the system and on the pipe, respectively. The crawler system has been built and is currently undergoing testing. Key design parameters and performance parameters are developed and used in performance testing. Since the current system is a testbed, we also discuss future enhancements and outline two deployment scenarios (robotic and manual) for the final system to be designed and completed by the end of FY `95. An on-site demonstration is currently planned for Fernald in Ohio and Oak Ridge in Tennessee.
- Research Organization:
- Carnegie-Mellon Univ., Pittsburgh, PA (United States). Robotics Inst.
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AR21-93MC30362
- OSTI ID:
- 10189892
- Report Number(s):
- DOE/MC/30362-95/C0405; CONF-950232-6; ON: DE95001590; BR: EW4035100
- Resource Relation:
- Conference: 6. American Nuclear Society meeting on robotics and remote systems,Monterey, CA (United States),5-10 Feb 1995; Other Information: PBD: [1995]
- Country of Publication:
- United States
- Language:
- English
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