Issues associated with manipulator-based waste retrieval from Hanford underground storage tanks with a preliminary review of commercial concepts

摘要

Westinghouse Hanford Company (WHC) is exploring commercial methods for retrieving waste from the underground storage tanks at the Hanford site in south central Washington state. WHC needs data on commercial retrieval systems equipment in order to make programmatic decisions for waste retrieval. Full system testing of retrieval processes is to be demonstrated in phases through September 1997 in support of programs aimed to Acquire Commercial Technology for Retrieval (ACTR) and at the Hanford Tanks Initiative (HTI). One of the important parts of the integrated testing will be the deployment of retrieval tools using manipulator-based systems. WHC requires an assessment of a number of commercial deployment systems that have been identified by the ACTR program as good candidates to be included in an integrated testing effort. Included in this assessment should be an independent evaluation of manipulator tests performed to date, so that WHC can construct an integrated test based on these systems. The objectives of this document are to provide a description of the need, requirements, and constraints for a manipulator-based retrieval system; to evaluate manipulator-based concepts and testing performed to date by a number of commercial organizations; and to identify issues to be resolved through testing and/or analysis for each concept.