Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection
Abstract
The Robotics Technology Development Program now known as the Robotics Crosscut Program, funded the development and deployment of a small remotely operated vehicle for inspection and cleanout of small horizontal waste storage tanks that have limited access. Besides the advantage of access through tank risers as small as 18-in. diameter, the small robotic system is also significantly less expensive to procure and to operate than larger remotely operated vehicle (ROV) systems. The vehicle specified to support this activity was the ROV Technologies, Inc., Scarab. The Scarab is a tracked vehicle with an independently actuated front and rear ''toe'' degree-of-freedom which allows the stand-off and angle of the vehicle platform with respect to the floor to be changed. The Scarab is a flexible remote tool that can be used for a variety of tasks with its primary uses targeted for inspection and small scale waste retrieval. The vehicle and any necessary process equipment are mounted in a deployment and containment enclosure to simplify deployment and movement of the system from tank to tank. This paper outlines the technical issues related to the Scarab vehicle and its deployment for use in tank inspection and waste retrieval operation
- Authors:
- Publication Date:
- Research Org.:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Org.:
- USDOE Office of Environmental Management (EM) (US)
- OSTI Identifier:
- 4616
- Report Number(s):
- ORNL/CP-102022
TRN: US0101504
- DOE Contract Number:
- AC05-96OR22464
- Resource Type:
- Conference
- Resource Relation:
- Conference: 8th International Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA (US), 04/25/1999--04/29/1999; Other Information: PBD: 25 Apr 1999
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 12 MANAGEMENT OF RADIOACTIVE WASTES, AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; ROBOTS; DESIGN; INSPECTION; TANKS; WASTE RETRIEVAL; RADIOACTIVE WASTE STORAGE; REMOTE CONTROL; OPERATION; ROBOTICS; WASTE TANK CLEANUP
Citation Formats
Burks, B L, Falter, D D, Noakes, M, and Vesco, D. Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection. United States: N. p., 1999.
Web.
Burks, B L, Falter, D D, Noakes, M, & Vesco, D. Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection. United States.
Burks, B L, Falter, D D, Noakes, M, and Vesco, D. 1999.
"Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection". United States. https://www.osti.gov/servlets/purl/4616.
@article{osti_4616,
title = {Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection},
author = {Burks, B L and Falter, D D and Noakes, M and Vesco, D},
abstractNote = {The Robotics Technology Development Program now known as the Robotics Crosscut Program, funded the development and deployment of a small remotely operated vehicle for inspection and cleanout of small horizontal waste storage tanks that have limited access. Besides the advantage of access through tank risers as small as 18-in. diameter, the small robotic system is also significantly less expensive to procure and to operate than larger remotely operated vehicle (ROV) systems. The vehicle specified to support this activity was the ROV Technologies, Inc., Scarab. The Scarab is a tracked vehicle with an independently actuated front and rear ''toe'' degree-of-freedom which allows the stand-off and angle of the vehicle platform with respect to the floor to be changed. The Scarab is a flexible remote tool that can be used for a variety of tasks with its primary uses targeted for inspection and small scale waste retrieval. The vehicle and any necessary process equipment are mounted in a deployment and containment enclosure to simplify deployment and movement of the system from tank to tank. This paper outlines the technical issues related to the Scarab vehicle and its deployment for use in tank inspection and waste retrieval operation},
doi = {},
url = {https://www.osti.gov/biblio/4616},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Sun Apr 25 00:00:00 EDT 1999},
month = {Sun Apr 25 00:00:00 EDT 1999}
}