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Title: Use of the Modified Light Duty Utility Arm to Perform Nuclear Waste Cleanup of Underground Waste Storage Tanks at Oak Ridge National Laboratory

Abstract

The Modified Light Duty Utility Arm (MLDUA) is a selectable seven or eight degree-of-freedom robot arm with a 16.5 ft (5.03 m) reach and a payload capacity of 200 lb. (90.72 kg). The utility arm is controlled in either joystick-based telerobotic mode or auto sequence robotics mode. The MLDUA deployment system deploys the utility arm vertically into underground radioactive waste storage tanks located at Oak Ridge National Laboratory. These tanks are constructed of gunite material and consist of two 25 ft (7.62 m) diameter tanks in the North Tank Farm and six 50 ft (15.24 m) diameter tanks in the South Tank Farm. After deployment inside a tank, the utility arm reaches and grasps the confined sluicing end effecter (CSEE) which is attached to the hose management arm (HMA). The utility arm positions the CSEE within the tank to allow the HMA to sluice the tank's liquid and solid waste from the tank. The MLDUA is used to deploy the characterization end effecter (CEE) and gunite scarifying end effecter (GSEE) into the tank. The CEE is used to survey the tank wall's radiation levels and the physical condition of the walls. The GSEE is used to scarify the tank wallsmore » with high-pressure water to remove the wall scale buildup and a thin layer of gunite which reduces the radioactive contamination that is embedded into the gunite walls. The MLDUA is also used to support waste sampling and wall core-sampling operations. Other tools that have been developed for use by the MLDUA include a pipe-plugging end effecter, pipe-cutting end effecter, and pipe-cleaning end effecter. Washington University developed advance robotics path control algorithms for use in the tanks. The MLDUA was first deployed in June 1997 and has operated continuously since then. Operational experience in the first four tanks remediated is presented in this paper.« less

Authors:
; ; ; ; ; ; ; ; ; ; ;
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (US)
Sponsoring Org.:
USDOE Office of Science (SC); USDOE Office of Environmental Management (EM) (US)
OSTI Identifier:
3732
Report Number(s):
ORNL/CP-101283
TRN: US0101428
DOE Contract Number:  
AC05-96OR22464
Resource Type:
Conference
Resource Relation:
Conference: 8th American Chemical Society International Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA (US), 04/1999; Other Information: PBD: 1 Apr 1999
Country of Publication:
United States
Language:
English
Subject:
12 MANAGEMENT OF RADIOACTIVE WASTES, AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; 42 ENGINEERING; ORNL; RADIOACTIVE WASTE STORAGE; SOLID WASTES; STORAGE FACILITIES; WASTE RETRIEVAL; MANIPULATORS; ROBOTS; REMEDIAL ACTION; LIQUID WASTES; REMOTE VIEWING EQUIPMENT; SAMPLERS

Citation Formats

Blank, J A, Burks, B L, DePew, R E, Falter, D D, Glassell, R L, Glover, W H, Killough, S M, Lloyd, P D, Love, L J, Randolph, J D, Van Hoesen, S D, and Vesco, D P. Use of the Modified Light Duty Utility Arm to Perform Nuclear Waste Cleanup of Underground Waste Storage Tanks at Oak Ridge National Laboratory. United States: N. p., 1999. Web.
Blank, J A, Burks, B L, DePew, R E, Falter, D D, Glassell, R L, Glover, W H, Killough, S M, Lloyd, P D, Love, L J, Randolph, J D, Van Hoesen, S D, & Vesco, D P. Use of the Modified Light Duty Utility Arm to Perform Nuclear Waste Cleanup of Underground Waste Storage Tanks at Oak Ridge National Laboratory. United States.
Blank, J A, Burks, B L, DePew, R E, Falter, D D, Glassell, R L, Glover, W H, Killough, S M, Lloyd, P D, Love, L J, Randolph, J D, Van Hoesen, S D, and Vesco, D P. Thu . "Use of the Modified Light Duty Utility Arm to Perform Nuclear Waste Cleanup of Underground Waste Storage Tanks at Oak Ridge National Laboratory". United States. https://www.osti.gov/servlets/purl/3732.
@article{osti_3732,
title = {Use of the Modified Light Duty Utility Arm to Perform Nuclear Waste Cleanup of Underground Waste Storage Tanks at Oak Ridge National Laboratory},
author = {Blank, J A and Burks, B L and DePew, R E and Falter, D D and Glassell, R L and Glover, W H and Killough, S M and Lloyd, P D and Love, L J and Randolph, J D and Van Hoesen, S D and Vesco, D P},
abstractNote = {The Modified Light Duty Utility Arm (MLDUA) is a selectable seven or eight degree-of-freedom robot arm with a 16.5 ft (5.03 m) reach and a payload capacity of 200 lb. (90.72 kg). The utility arm is controlled in either joystick-based telerobotic mode or auto sequence robotics mode. The MLDUA deployment system deploys the utility arm vertically into underground radioactive waste storage tanks located at Oak Ridge National Laboratory. These tanks are constructed of gunite material and consist of two 25 ft (7.62 m) diameter tanks in the North Tank Farm and six 50 ft (15.24 m) diameter tanks in the South Tank Farm. After deployment inside a tank, the utility arm reaches and grasps the confined sluicing end effecter (CSEE) which is attached to the hose management arm (HMA). The utility arm positions the CSEE within the tank to allow the HMA to sluice the tank's liquid and solid waste from the tank. The MLDUA is used to deploy the characterization end effecter (CEE) and gunite scarifying end effecter (GSEE) into the tank. The CEE is used to survey the tank wall's radiation levels and the physical condition of the walls. The GSEE is used to scarify the tank walls with high-pressure water to remove the wall scale buildup and a thin layer of gunite which reduces the radioactive contamination that is embedded into the gunite walls. The MLDUA is also used to support waste sampling and wall core-sampling operations. Other tools that have been developed for use by the MLDUA include a pipe-plugging end effecter, pipe-cutting end effecter, and pipe-cleaning end effecter. Washington University developed advance robotics path control algorithms for use in the tanks. The MLDUA was first deployed in June 1997 and has operated continuously since then. Operational experience in the first four tanks remediated is presented in this paper.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {4}
}

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