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Title: Houdini{trademark}: Reconfigurable in-tank mobile robot. Final report, June 1995--January 1997

Abstract

This report details the development of a reconfigurable in-tank robotic cleanup system called Houdini{trademark}. Driven by the general need to develop equipment for the removal of radioactive waste from hundreds of DOE waste storage tanks and the specific needs of DOE sites such as Oak Ridge National Laboratory and Fernald, Houdini{trademark} represents one of the possible tools that can be used to mobilize and retrieve this waste material for complete remediation. Houdini{trademark} is a hydraulically powered, track driven, mobile work vehicle with a collapsible frame designed to enter underground or above ground waste tanks through existing 24 inch riser openings. After the vehicle has entered the waste tank, it unfolds and lands on the waste surface or tank floor to become a remotely operated mini-bulldozer. Houdini{trademark} utilizes a vehicle mounted plow blade and 6-DOF manipulator to mobilize waste and carry other tooling such as sluicing pumps, excavation buckets, and hydraulic shears. The complete Houdini{trademark} system consists of the tracked vehicle and other support equipment (e.g., control console, deployment system, hydraulic power supply, and controller) necessary to deploy and remotely operate this system at any DOE site. Inside the storage tanks, the system is capable of performing heel removal, waste mobilization,more » waste size reduction, and other tank waste retrieval and decommissioning tasks. The first Houdini{trademark} system was delivered on September 24, 1996 to Oak Ridge National Laboratory (ORNL). The system acceptance test was successfully performed at a cold test facility at ORNL. After completion of the cold test program and the training of site personnel, ORNL will deploy the system for clean-up and remediation of the Gunite storage tanks.« less

Authors:
;
Publication Date:
Research Org.:
Redzone Robotics, Inc., Pittsburgh, PA (United States)
Sponsoring Org.:
USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
OSTI Identifier:
589237
Report Number(s):
DOE/MC/32092-5630
ON: DE97002265; TRN: 98:008547
DOE Contract Number:  
AR21-95MC32092
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: [1998]
Country of Publication:
United States
Language:
English
Subject:
05 NUCLEAR FUELS; 32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; PROGRESS REPORT; ROBOTS; TANKS; RADIOACTIVE WASTE STORAGE; REMEDIAL ACTION; REMOTE HANDLING EQUIPMENT; DESIGN

Citation Formats

Thompson, B, and Slifko, A. Houdini{trademark}: Reconfigurable in-tank mobile robot. Final report, June 1995--January 1997. United States: N. p., 1998. Web. doi:10.2172/589237.
Thompson, B, & Slifko, A. Houdini{trademark}: Reconfigurable in-tank mobile robot. Final report, June 1995--January 1997. United States. https://doi.org/10.2172/589237
Thompson, B, and Slifko, A. 1998. "Houdini{trademark}: Reconfigurable in-tank mobile robot. Final report, June 1995--January 1997". United States. https://doi.org/10.2172/589237. https://www.osti.gov/servlets/purl/589237.
@article{osti_589237,
title = {Houdini{trademark}: Reconfigurable in-tank mobile robot. Final report, June 1995--January 1997},
author = {Thompson, B and Slifko, A},
abstractNote = {This report details the development of a reconfigurable in-tank robotic cleanup system called Houdini{trademark}. Driven by the general need to develop equipment for the removal of radioactive waste from hundreds of DOE waste storage tanks and the specific needs of DOE sites such as Oak Ridge National Laboratory and Fernald, Houdini{trademark} represents one of the possible tools that can be used to mobilize and retrieve this waste material for complete remediation. Houdini{trademark} is a hydraulically powered, track driven, mobile work vehicle with a collapsible frame designed to enter underground or above ground waste tanks through existing 24 inch riser openings. After the vehicle has entered the waste tank, it unfolds and lands on the waste surface or tank floor to become a remotely operated mini-bulldozer. Houdini{trademark} utilizes a vehicle mounted plow blade and 6-DOF manipulator to mobilize waste and carry other tooling such as sluicing pumps, excavation buckets, and hydraulic shears. The complete Houdini{trademark} system consists of the tracked vehicle and other support equipment (e.g., control console, deployment system, hydraulic power supply, and controller) necessary to deploy and remotely operate this system at any DOE site. Inside the storage tanks, the system is capable of performing heel removal, waste mobilization, waste size reduction, and other tank waste retrieval and decommissioning tasks. The first Houdini{trademark} system was delivered on September 24, 1996 to Oak Ridge National Laboratory (ORNL). The system acceptance test was successfully performed at a cold test facility at ORNL. After completion of the cold test program and the training of site personnel, ORNL will deploy the system for clean-up and remediation of the Gunite storage tanks.},
doi = {10.2172/589237},
url = {https://www.osti.gov/biblio/589237}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Dec 31 00:00:00 EST 1998},
month = {Thu Dec 31 00:00:00 EST 1998}
}