Light-duty utility remote manipulator for underground storage tank inspection and characterization
The light-duty utility arm (LDUA) and vertical positioning mast (VPM) are inserted into the tank through a riser. The riser requires at least 10 1/2 in. inside diameter and the interface of the LDUA to the riser is via an interface glove box. The deployment system is used to erect the LDUA and VPM from their horizontal, stowed position into a vertical position such that they are fully aligned with the riser to be used for insertion. The LDUA and VPM are enclosed and supported in a container that protects them during transport and handling and maintains enclosure of the tank contents during operations. The controller subsystem performs monitoring and control of the LDUA and VPM and enables safe, responsive, and coordinated motion of these subsystems. It also provides the interface of the U.S. Department of Energy`s (DOE`s) graphics-based generic intelligent system controller (GISC). The GISC is a high-level control system that has been developed by the DOE to control multiple remote manipulators in a synergistic mode of operation for applications such as the inspection and retrieval of waste from underground storage tanks.
- OSTI ID:
- 89377
- Report Number(s):
- CONF-941102--
- Journal Information:
- Transactions of the American Nuclear Society, Journal Name: Transactions of the American Nuclear Society Vol. 71; ISSN TANSAO; ISSN 0003-018X
- Country of Publication:
- United States
- Language:
- English
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