Open AccessTARZAN: A REMOTE TOOL DEPLOYMENT SYSTEM FOR THE WEST VALLEY DEVELOPMENT PROJECT
Author(s) -
Bruce Thompson,
James Veri
Publication year - 1999
Language(s) - English
Resource type - Reports
DOI - 10.2172/772472
Subject(s) - software deployment , piping , engineering , robotics , unit (ring theory) , work (physics) , interface (matter) , robot , computer science , operating system , mechanical engineering , artificial intelligence , mathematics education , mathematics , bubble , maximum bubble pressure method
RedZone Robotics, Inc. undertook a development project to build Tarzan, a Remote Tool Delivery system to work inside nuclear waste storage tanks 8D-1 and 8D-2 at the West Valley Demonstration Project (WVDP). The removal of waste deposits from large storage tanks poses significant challenges during tank operations and closure. Limited access, the presence of chemical, radiological, and /or explosive hazards, and the need to deliver retrieval equipment to all regions of the tank exceed the capabilities of most conventional methods and equipment. Remotely operated devices for mobilizing and retrieving waste materials are needed. Some recent developments have been made in this area. However, none of these developments completely and cost-effectively address tanks that are congested with internal structures (e.g., support columns, cooling coils, fixed piping, etc.). The Tarzan system consists of the following parts: Locomotor which is deployed in the tank for inspection and cleanup; Hydraulic power unit providing system power for the locomotor and deployment unit; and Control system providing the man machine interface to control, coordinate and monitor the system. This document presents the final report on the Tarzan project