Linear Scarifying End-Effector Developed For Wall Cleaning In Underground Storage Tanks

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This paper describes the development and performance of a Linear Scarifying End-Effector (LSEE) designed and fabricated for deployment by a remotely operated vehicle. The end-effector was designed to blast or scarify in-grained residual contamination from gunite tank walls using high-pressure water jets after the bulk sludge had been removed from the tanks using an integrated suite of remotely operated tools. Two generations of the LSEE were fabricated, tested, and deployed in the gunite tanks at the Oak Ridge National Laboratory, with varying levels of success. Because the LSEE was designed near the end of a four-year project to clean up ... continued below

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5 pages

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Fitzgerald, C.L.F. February 4, 2001.

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Description

This paper describes the development and performance of a Linear Scarifying End-Effector (LSEE) designed and fabricated for deployment by a remotely operated vehicle. The end-effector was designed to blast or scarify in-grained residual contamination from gunite tank walls using high-pressure water jets after the bulk sludge had been removed from the tanks using an integrated suite of remotely operated tools. Two generations of the LSEE were fabricated, tested, and deployed in the gunite tanks at the Oak Ridge National Laboratory, with varying levels of success. Because the LSEE was designed near the end of a four-year project to clean up the gunite tanks at Oak Ridge, a number of design constraints existed. The end-effector had to utilize pneumatic, hydraulic and electrical interfaces already available at the site; and to be deployable through one of the containment structures already in place for the other remote systems. Another primary design consideration was that the tool had to effectively extend the reach of an existing remotely operated vehicle from six ft. to at least ten ft. to allow cleaning the tank walls from floor to ceiling. In addition, the combined weight and thrust of the LSEE had to be manageable by the manipulator mounted on the vehicle. Finally, the end-effector had to follow an autonomous scarifying path such that the vehicle was only required to reposition the unit at the end of each pass after the mist had cleared from the tank. The prototypes successfully met each of these challenges, but did encounter other difficulties during actual tank operations.

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5 pages

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  • ANS Ninth International Topical Meeting on Robotics and Remote Systems, Location not supplied, Dates not supplied

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  • Report No.: P01-109927
  • Grant Number: AC05-96OR22464
  • Office of Scientific & Technical Information Report Number: 775421
  • Archival Resource Key: ark:/67531/metadc717350

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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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  • February 4, 2001

Added to The UNT Digital Library

  • Sept. 29, 2015, 5:31 a.m.

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  • March 25, 2016, 12:10 p.m.

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Fitzgerald, C.L.F. Linear Scarifying End-Effector Developed For Wall Cleaning In Underground Storage Tanks, article, February 4, 2001; Tennessee. (digital.library.unt.edu/ark:/67531/metadc717350/: accessed August 14, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.