Innovative technology summary report: Houdini{trademark} I and II remotely operated vehicle

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The US Department of Energy (DOE) is responsible for cleaning up and closing 273 large, aging, underground tanks the department has used for storing approximately 1 million gal of high- and low-level radioactive and mixed waste. The waste`s radioactivity precludes humans from working in the tanks. A remote-controlled retrieval method must be used. The Houdini robot addresses the need for vehicle-based, rugged, remote manipulation systems that can perform waste retrieval, characterization, and inspection tasks. Houdini-I was delivered to ORNL in September 1996, deployed in a cold test facility in November, and first deployed in the gunite tanks in June 1997. ... continued below

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31 p.

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Creator: Unknown. July 1, 1998.

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Description

The US Department of Energy (DOE) is responsible for cleaning up and closing 273 large, aging, underground tanks the department has used for storing approximately 1 million gal of high- and low-level radioactive and mixed waste. The waste`s radioactivity precludes humans from working in the tanks. A remote-controlled retrieval method must be used. The Houdini robot addresses the need for vehicle-based, rugged, remote manipulation systems that can perform waste retrieval, characterization, and inspection tasks. Houdini-I was delivered to ORNL in September 1996, deployed in a cold test facility in November, and first deployed in the gunite tanks in June 1997. Since then, it has seen continuous (still on-going) service at ORNL, providing a critical role in the cleanup of two gunite tanks, W-3 and W-4, in the GAAT NTF. Houdini-I has proven rugged, capable of waste retrieval, and able to withstand high reaction force operations such as wall core sampling. It`s even able to operate while hanging, which was the case when Houdini was used to cut and remove cables and steel pipes hanging below manways in Tank W-3. Based upon the lessons learned at ORNL, Houdini`s design has been completely overhauled. A second generation system, Houdini-II, is now being built.

Physical Description

31 p.

Notes

DOE and DOE contractors receive free stock copies from OSTI while they last; OSTI as DE98007484

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  • Other Information: PBD: Jul 1998

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  • Other: DE98007484
  • Report No.: DOE/EM--0368
  • DOI: 10.2172/665927 | External Link
  • Office of Scientific & Technical Information Report Number: 665927
  • Archival Resource Key: ark:/67531/metadc701918

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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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Creation Date

  • July 1, 1998

Added to The UNT Digital Library

  • Sept. 12, 2015, 6:31 a.m.

Description Last Updated

  • June 13, 2016, 8:04 p.m.

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Innovative technology summary report: Houdini{trademark} I and II remotely operated vehicle, report, July 1, 1998; United States. (digital.library.unt.edu/ark:/67531/metadc701918/: accessed July 20, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.