Robotic system for remote inspection of underground storage tanks
Westinghouse Idaho Nuclear Company (WINCO), operates the Idaho Chemical Processing Plant (ICPP) for the U.S. Department of Energy. The purpose of the ICPP is to process government-owned spent nuclear fuel. WINCO temporarily stores the waste from this process in eleven 11,358,620-{ell} (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste tanks. Each of these stainless steel tanks is contained within an underground concrete vault. The only access to the interior tanks is through risers that extended from the ground level to the dome of the tanks. The performance of these tasks requires a robotic manipulator capable of accessing the interior of the tanks and positioning the various inspection devices. The remote tank inspection (RTI) robotic system will be used to inspect the tank walls using a high-resolution camera inspection system. In addition to the minimum specifications, the RTI system will be computer controlled, incorporate collision avoidance, and provide a graphic display of the robotic arm in the tank to aid the operator.
- OSTI ID:
- 5831660
- Report Number(s):
- CONF-901101--
- Journal Information:
- Transactions of the American Nuclear Society; (USA), Journal Name: Transactions of the American Nuclear Society; (USA) Vol. 62; ISSN TANSA; ISSN 0003-018X
- Country of Publication:
- United States
- Language:
- English
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Development of a remote tank inspection robotic system
Robotic system for remote inspection of underground storage tanks
Related Subjects
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11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ALLOYS
BUILDING MATERIALS
CHEMICAL REACTIONS
COMPUTER GRAPHICS
CONCRETES
CONTAINERS
CONTAINMENT
CONTAINMENT SYSTEMS
CORROSION
CRACKS
DEGREES OF FREEDOM
DESIGN
DOSES
ENERGY SOURCES
ENGINEERED SAFETY SYSTEMS
EQUIPMENT
FUEL REPROCESSING PLANTS
FUELS
HAZARDS
HEALTH HAZARDS
HIGH ALLOY STEELS
HIGH-LEVEL RADIOACTIVE WASTES
IDAHO CHEMICAL PROCESSING PLANT
INSPECTION
IRON ALLOYS
IRON BASE ALLOYS
LABORATORY EQUIPMENT
MANAGEMENT
MANIPULATORS
MATERIALS
MATERIALS HANDLING EQUIPMENT
NATIONAL ORGANIZATIONS
NOZZLES
NUCLEAR FACILITIES
NUCLEAR FUELS
PHYSICAL RADIATION EFFECTS
PITTING CORROSION
PROCESSING
RADIATION DOSES
RADIATION EFFECTS
RADIATION HAZARDS
RADIOACTIVE MATERIALS
RADIOACTIVE WASTE MANAGEMENT
RADIOACTIVE WASTE PROCESSING
RADIOACTIVE WASTES
REACTOR MATERIALS
REMOTE HANDLING EQUIPMENT
REMOTE VIEWING EQUIPMENT
ROBOTS
SEISMIC EFFECTS
SPECIFICATIONS
SPENT FUELS
STAINLESS STEELS
STEELS
STORAGE
TANKS
UNDERGROUND STORAGE
US AEC
US DOE
US EPA
US ERDA
US ORGANIZATIONS
USES
WASTE MANAGEMENT
WASTE PROCESSING
WASTES