Development and Testing of a Mobile Platform for Tank Remediation
The Department of Energy (DOE) is committed to removing millions of gallons of high level radioactive waste from waste storage tanks at the Savannah River Site (SRS). SRS was the first site in the DOE complex to have emptied and closed high level waste tanks. Tank closure at the Site is now progressing to tanks containing waste composed of liquid and large deposits of solids, including a tank that has a potential ''heel''. A heel is a hardened mass of solid waste material spread across the tank bottom. Tank closure requires breaking up this heel and moving the material to the intake of a pumping system for transfer from the tank. In the past, overhead spray systems have been used with some success at moving waste. But the limited number of risers restricts the coverage area of the overhead spray system. Therefore, a floor- level spray system will be used to separate manageable size chunks of the material from the heel. The chunks will be guided into the pump's intake to be remove from the tank. The floor-level spray system movement will be accomplished by using a mobile platform, a crawler, which provides transport to nearly every point on the tank floor. Transport of the spray system will allow the system to ''corral'' the waste away from the tank walls and control the movement of the material across the tank floor. Because the available access riser is small, and a wide crawler platform is required to support the spray system, the crawler's frame must fold to enter the tank. After entry into the tank, the crawler unfolds on the tank floor using the crawler drive tracks to expand the frame and position the mobile platform under the entry riser. The spray system will then be lowered separately through the entry riser and mated onto the crawler on the tank floor. The crawler and spray system are tethered and controlled remotely by personnel at the control station. Motorized cable reels will also be remotely controlled to pay out, retrieve, and manage the tethers as the mobile platform moves the spray system across the tank floor. Both the crawler and spray systems are designed to be retrievable. Development of the tank cleaning system was evaluated using a performance test program. The tests evaluated the spray system dynamics, the crawler's fit through the riser, the crawler landing in mocked up tank with simulant, the crawler's traction, and the crawler and spray system mating. Initial testing verified the crawler platform was compatible with the dynamics produced by the spray system. The riser fit test confirmed that a dedicated riser is required for deployment of the crawler and the spray system. The crawler traction test defined the capabilities of the crawler at different levels of simulant. Deployment testing through a mockup riser verified the basic system processes. Finally, testing of the complete system in a full-scale mockup with sludge simulant was performed to evaluate the tank cleaning ability of the crawler. This paper describes th e tank conditions, the tank closure process, the development of the crawler and spray system, and the testing program and results used to evaluate the mobile platform and spray system.
- Research Organization:
- Savannah River Site (SRS), Aiken, SC (United States)
- Sponsoring Organization:
- US Department of Energy (US)
- DOE Contract Number:
- AC09-96SR18500
- OSTI ID:
- 773570
- Report Number(s):
- WSRC-MS-2000-00497; TRN: US0406867
- Resource Relation:
- Conference: 9th Topical Meeting on Robotics and Remote Systems, Seattle, WA (US), 03/04/2001--03/08/2001; Other Information: PBD: 16 Jan 2001; PBD: 16 Jan 2001
- Country of Publication:
- United States
- Language:
- English
Similar Records
HIGH LEVEL WASTE TANK CLOSURE PROJECT AT THE IDAHO NATIONAL ENGINEERING AND ENVIRONMENTAL LABORATORY
TANK 18 AND 19-F TIER 1A EQUIPMENT FILL MOCK UP TEST SUMMARY