Engineering development of waste retrieval end effectors for the Oak Ridge gunite waste tanks

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Description

The Gunite and Associated Tanks Treatability Study at Oak Ridge National Laboratory selected the waterjet scarifying end effector, the jet pump conveyance system, and the Modified Light Duty Utility Arm and Houdini Remotely Operated Vehicle deployment and manipulator systems for evaluation. The waterjet-based retrieval end effector had been developed through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology had demonstrated effectiveness at retrieval of simulants bounding the foreseen range of waste properties and indicated compatibility with the planned deployment systems. The Retrieval Process Development and Enhancements team ... continued below

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[100] p.

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Mullen, O.D. May 1, 1997.

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Description

The Gunite and Associated Tanks Treatability Study at Oak Ridge National Laboratory selected the waterjet scarifying end effector, the jet pump conveyance system, and the Modified Light Duty Utility Arm and Houdini Remotely Operated Vehicle deployment and manipulator systems for evaluation. The waterjet-based retrieval end effector had been developed through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology had demonstrated effectiveness at retrieval of simulants bounding the foreseen range of waste properties and indicated compatibility with the planned deployment systems. The Retrieval Process Development and Enhancements team was tasked with developing a version of the retrieval end effector tailored to the Oak Ridge tanks, waste and deployment platforms. The finished prototype was delivered to PNNL and subjected to a brief round of characterization and performance testing at the Hydraulic Testbed prior to shipment to Oak Ridge. It has undergone extensive operational testing in the Oak Ridge National Laboratory Tanks Technology Cold Test Facility and performed well, as expected. A second unit has been delivered outfitted with the high pressure manifold.

Physical Description

[100] p.

Notes

INIS; OSTI as DE97053371

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  • Other Information: PBD: May 1997

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  • Other: DE97053371
  • Report No.: PNNL--11586
  • Grant Number: AC06-76RL01830
  • DOI: 10.2172/578517 | External Link
  • Office of Scientific & Technical Information Report Number: 578517
  • Archival Resource Key: ark:/67531/metadc691097

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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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  • May 1, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

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  • April 6, 2016, 2:09 p.m.

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Mullen, O.D. Engineering development of waste retrieval end effectors for the Oak Ridge gunite waste tanks, report, May 1, 1997; Richland, Washington. (digital.library.unt.edu/ark:/67531/metadc691097/: accessed May 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.