TASK DESCRIPTION
The objective of this project is to develop and demonstrate a robotic end effector (REE) capable of both visual and non-destructive evaluation (NDE) of the interior walls of stainless steel and carbon steel waste storage tanks. This system, Alternating Current Field Measurement (ACFM), provides a remote operator with video data and indicates wall corrosion.
The work will be undertaken in two phases:
In Phase I, the requirements of the REE system will be defined. This will include designing, fabricating, assembling and testing the pre-prototype system at the contractor's robotics lab, which will be configured to simulate representative manipulators.
In Phase II, based on the Phase I testing, a complete prototype system will be tested at the selected DOE site. The End Effector will be installed in the manipulator of the robot for testing. This testing will be done in the non-hazardous environment to demonstrate the feasibility of the device.
TECHNOLOGY NEEDS
Safely inspecting the walls of tanks is a challenge at many DOE defense sites. In order to meet the challenge of tank wall inspection in a radioactive and hazardous environment, Oceaneering Space Systems, Inc. (OSS) is using Alternating Current Field Measurement (ACFM) technology. This non-contacting electromagnetic technique, coupled with a well-designed and robust end effector, will guarantee the success of inspection missions and provide the DOE with the data necessary to make informed decisions about the condition of the storage tanks.
ACCOMPLISHMENTS
U.S. DOE Morgantown Energy Technology Center sought assistance from and collaboration with industry to address specific applied research and development needs of the Office of Technology Development. A Research Opportunity Announcement in March 1993 invited research proposals for in-situ remediation of contaminated sites; characterization, sensors and monitoring; low-level mixed waste processing; efficient separation technology for radioactive wastes; robotics; materials disposition on technologies; improved engineering barriers for waste storage and disposal; and waste forms. The contract for development of this novel storage and inspection technology was awarded to Oceaneering Space Systems in September 1993, with TSC from the UK as the subcontractor.
POINTS OF CONTACT
Gregory Hughes
Principal Investigator
Oceaneering Space System, Inc.
16665 Space Center Blvd.
Houston, TX 77058-2268
(713) 488-9080
Vijendra Kothari
Technical Manager
Morgantown Energy Technology Center
3610 Collins Ferry Road
Morgantown, WV 26505
(304) 291-4579
Susan C. Weber
Program Manager, IIA
U.S. Department of Energy
Office of Technology Development
12800 Middlebrook Road
Germantown, MD 20874
(301) 903-7288
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