Development of a waste dislodging and retrieval system for use in the Oak Ridge National Laboratory gunite tank

As part of the Gunite And Associated Tanks (GAAT) Treatability Study the Oak Ridge National Laboratory (ORNL) has developed a tank waste retrieval system capable of removing wastes varying from liquids to thick sludges. This system is also capable of scarifying concrete walls and floors. The GAAT Treatability Study is being conducted by the Department of Energy Oak Ridge Environmental Restoration Program. Much of the technology developed for this project was cosponsored by the DOE Office of Science and Technology through the Tanks Focus Area (TFA) and the Robotics Technology Development Program. The waste dislodging and conveyance (WD&C) system was developed jointly by ORNL and participants from the TFA. The WD&C system is comprised of a four degree-of-freedom arm with back driveable motorized joints. a cutting and dislodging tool, a jet pump and hose management system for conveyance of wastes, confined sluicing end-effector, and a control system, and must be used in conjunction with a robotic arm or vehicle. Other papers have been submitted to this conference describing the development and operation of the arm and vehicle positioning systems. This paper will describe the development of the WD&C system and its application for dislodging and conveyance of ORNL sludges from the GAAT tanks. The confined sluicing end-effector relies on medium pressure water jets to dislodge waste that is then pumped by the jet pump through the conveyance system out of the tank. This paper will describe the results of cold testing of the integrated system. At the conference presentation there will also be results from the field deployment. ORNL has completed fabrication of the WD&C system for waste removal and is full-scale testing, including testing of the confined sluicing end-effector

Remote systems for waste retrieval from the Oak Ridge National Laboratory gunite tanks

As part of a Comprehensive Environmental Response, Compensation, and Liability Act Treatability Study funded by the Department of Energy, the Oak Ridge National Laboratory (ORNL) is preparing to demonstrate and evaluate two approaches for the remote retrieval of wastes in underground storage tanks. This work is being performed to identify the most cost-effective and efficient method of waste removal before full-scale remediation efforts begin in 1998. System requirements are based on the need to dislodge and remove sludge wastes ranging in consistency from broth to compacted clay from Gunite (Shotcrete) tanks that are approaching fifty years in age. Systems to be deployed must enter and exit through the existing 0.6 m (23.5 in.) risers and conduct retrieval operations without damaging the layered concrete walls of the tanks. Goals of this project include evaluation of confined sluicing techniques and successful demonstration of a telerobotic arm-based system for deployment of the sluicing system. As part of a sister project formed on the Old Hydrofracture Facility tanks at ORNL, vehicle-based tank remediation will also be evaluated

Self-replication, Evolvability and Asynchronicity in Stochastic Worlds

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