LIGHT DUTY UTILITY REMOTE MANIPULATOR FOR UNDERGROUND STORAGE TANK INSPECTION AND CHARACTERIZATION

摘要

The Light Duty Utility Arm (LDUA) is a remote manipulator system which is being designed and fabricated to perform surveillance and characterization activities in support of the remediation of underground storage tanks at the Hanford site as well as other DOE sites. The LDUA is a mechanical manipulator which utilizes an advanced control system to safely and reliably deploy a series of sensors to characterize underground storage tanks. The electrical components of the in tank system are radiation hardened and the mechanical components are designed to operate in the corrosive environment which exists in the tanks. The use of this system will allow the U.S. Department of Energy to sample and characterize the waste material in the tanks prior to the initiation of waste retrieval operations. In addition to its use for inspecting and characterizing underground storage tanks, the system has the potential to be used in other environments where accessibility is limited and where high radiation levels exist.