Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection

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Description

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 ... continued below

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11 p.

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Burks, B.L.; Falter, D.D.; Noakes, M. & Vesco, D. April 25, 1999.

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Description

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

Physical Description

11 p.

Notes

INIS; OSTI as DE00004616

Medium: P; Size: 11 pages

Source

  • 8th International Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA (US), 04/25/1999--04/29/1999

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  • Report No.: ORNL/CP-102022
  • Grant Number: AC05-96OR22464
  • Office of Scientific & Technical Information Report Number: 4616
  • Archival Resource Key: ark:/67531/metadc674936

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • April 25, 1999

Added to The UNT Digital Library

  • July 25, 2015, 2:21 a.m.

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  • April 6, 2017, 7:36 p.m.

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Burks, B.L.; Falter, D.D.; Noakes, M. & Vesco, D. Scarab III Remote Vehicle Deployment for Waste Retrieval and Tank Inspection, article, April 25, 1999; Tennessee. (digital.library.unt.edu/ark:/67531/metadc674936/: accessed April 25, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.