Robotic system for decommissioning the Gunite tanks at Oak Ridge National Laboratory, Oak Ridge, Tennessee

Conference · Thu Dec 31 04:00:00 EST 1992

OSTI ID:10110546

Chesser, J B; Evans, J H; Norman, R E; Peishel, F L; Ruppel, F R

Robotic systems and equipment to facilitate removal of the contents of the Oak Ridge National Laboratory (ORNL) Gunite Waste Tanks as well as the tanks themselves are one of several options being considered for this site. The technology described consists of proven remote systems and equipment or remote adaptations of proven industrial concepts. The proposed robotic system would be housed in a portable containment structure, fabricated from steel plate, and reinforced with structural shapes. The structure would be cylindrical and have a domed head. The containment structure would be sized to cover one tank. The tanks are in two sizes: 60 ft and 35 ft diameters. The structures would be supported on driven steel piles and would have an earthen berm around the base to enhance the effectiveness of the containment. Internal to the containment structure, a polar crane bridge equipped with a pair of trolley-mounted telescoping masts would be utilized to support and manipulate the systems, tools, etc., which would perform the individual tasks. The bridge and mast control system and the manipulator control system would provide both teleoperated and robotic modes to support either manual or preprogrammed operations. Equipment mounted at the end of the mast would include servomanipulators, water jet cutter, or a clam shell bucket. The mast would feature an interface plate allowing remote changeout of most mounted equipment. The operating system would be required to have the capability to decontaminate the dome and its equipment to the degree necessary to allow it to be relocated. Viewing would be provided by commercial closed-circuit TV (CCTV). It is believed that the systems described herein represent a feasible approach to removing the contents from the ORNL gunite tanks and implementing remediation of the site.

• Research Organization: Oak Ridge National Lab., TN (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 10110546
• Report Number(s): CONF-930403--8; ON: DE93004161
• Country of Publication: United States
• Language: English

Related Subjects

052002
054000
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
42 ENGINEERING
420203
CHEMICAL WASTES
CONCRETES
CONTAINMENT
DECOMMISSIONING
DESIGN
HANDLING EQUIPMENT AND PROCEDURES
HEALTH AND SAFETY
LIQUID WASTES
MANIPULATORS
ORNL
RADIOACTIVE WASTES
REMEDIAL ACTION
REMOTE HANDLING
REMOTE HANDLING EQUIPMENT
REMOVAL
ROBOTS
TANKS
WASTE DISPOSAL AND STORAGE