Field performance of the waste retrieval end effectors in the Oak Ridge gunite tanks

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Waterjet-based tank waste retrieval end effectors have been developed by Retrieval Process Development and Enhancements through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology has demonstrated effectiveness for retrieval of simulants bounding a wide range of waste properties and compatibility with foreseen deployment systems. The Oak Ridge National Laboratory (ORNL) 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 in the Gunite and Associated Tanks Treatability Study ... continued below

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29 p.

Creation Information

Mullen, O.D. September 1, 1997.

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  • Pacific Northwest Laboratory
    Publisher Info: Pacific Northwest Lab., Richland, WA (United States)
    Place of Publication: Richland, Washington

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Description

Waterjet-based tank waste retrieval end effectors have been developed by Retrieval Process Development and Enhancements through several generations of test articles targeted at deployment in Hanford underground storage tanks with a large robotic arm. The basic technology has demonstrated effectiveness for retrieval of simulants bounding a wide range of waste properties and compatibility with foreseen deployment systems. The Oak Ridge National Laboratory (ORNL) 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 in the Gunite and Associated Tanks Treatability Study (GAAT-TS). The Retrieval Process Development and Enhancements (RPD&E) team was tasked with developing a version of the retrieval end effector tailored to the Oak Ridge tanks, waste, and deployment platforms. The conceptual design was done by the University of Missouri-Rolla in FY 1995-96. The university researchers conducted separate effects tests of the component concepts, scaled the basic design features, and constructed a full-scale test article incorporating their findings in early FY 1996. The test article was extensively evaluated in the Hanford Hydraulic Testbed and the design features were further refined. Detail design of the prototype item was started at Waterjet Technology, Inc. before the development testing was finished, and two of the three main subassemblies were substantially complete before final design of the waterjet manifold was determined from the Hanford hydraulic testbed (HTB) testing. The manifold on the first prototype was optimized for sludge retrieval; assembled with that manifold, the end effector is termed the Sludge Retrieval End Effector (SREE).

Physical Description

29 p.

Notes

INIS; OSTI as DE97054587

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  • Other Information: PBD: Sep 1997

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  • Other: DE97054587
  • Report No.: PNNL--11688
  • Grant Number: AC06-76RL01830
  • DOI: 10.2172/552788 | External Link
  • Office of Scientific & Technical Information Report Number: 552788
  • Archival Resource Key: ark:/67531/metadc691326

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

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  • September 1, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

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  • June 14, 2016, 5:40 p.m.

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Mullen, O.D. Field performance of the waste retrieval end effectors in the Oak Ridge gunite tanks, report, September 1, 1997; Richland, Washington. (digital.library.unt.edu/ark:/67531/metadc691326/: accessed December 15, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.