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A remotely operated robot for decontamination tasks [electronic resource].

Published
Washington, D.C. : United States. Dept. of Energy, 1994.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
Physical Description
7 pages : digital, PDF file
Additional Creators
Westinghouse Savannah River Company, United States. Department of Energy, and United States. Department of Energy. Office of Scientific and Technical Information
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Summary
Engineers in the Robotics Development Group at the Westinghouse Savannah River Company (WSRC) have developed a robot which will be used to decontaminate a pipe gallery of a tank farm used for nuclear waste storage. Personnel access is required into this pipe gallery to inspect existing pipes and perform repairs to secondary containment walls around the tank farm. Presently, the pipe gallery is littered with debris of various sizes and its surface is contaminated with activity levels up to 2.5E6 DPM (disintegrations per minute) alpha and exposure levels as high as 20 Rad/hr. Cleaning up this pipe gallery win be the mission of an all-hydraulic robotic vehicle developed in-house at WSRC caged the ``Remote Decon`` robot. The Remote Decon is a tracked vehicle which utilizes skid steering and features a six-degree-of-freedom (DOF) manipulator arm, a five-DOF front end loader type bucket with a rotating brush for scrubbing and decontaminating surfaces, and a three-DOF pan/tilt mechanism with cameras and lights. The Remote Decon system is connected to a control console via a 200 foot tethered cable. The control console was designed with ergonomics and simplicity as the main design factors and features three joysticks, video monitors, LED panels, and audible alarms.
Report Numbers
E 1.99:wsrc-ms--94-005
E 1.99: conf-940859--2
conf-940859--2
wsrc-ms--94-005
Subject(s)
Other Subject(s)
Note
Published through SciTech Connect.
02/01/1994.
"wsrc-ms--94-005"
" conf-940859--2"
"DE94006378"
5. international symposium on robotics and manufacturing,Maui, HI (United States),14-18 Aug 1994.
Dudar, A.M.; Vandewalle, R.C.
Funding Information
AC09-89SR18035
View MARC record | catkey: 14114095