engineering scale testing of robotic inspection …
TRANSCRIPT
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Advancing the research and academic mission of Florida International University
ENGINEERING SCALE TESTING OF
ROBOTIC INSPECTION TOOLS FOR
DOUBLE SHELL TANKS AT HANFORD
Michael DiBono
May 30, 2018
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Advancing the research and academic mission of Florida International University
Principal Investigator: Leonel Lagos, P.h.D., PMP
Project Manager: Dwayne McDaniel, Ph.D., P.E.
Technical Staff: Anthony Abrahao, Dr. William Tan
DOE Fellows: Sebastian Zanlongo, Mackenson Telusma, Anibal
Morales, Christopher Excellent, Manuel Losada, Michael DiBono
TEAM MEMBERS
Work supported by U.S. Department of Energy Office of Environmental Management
under Cooperative Agreement # DE-EM0000598
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Advancing the research and academic mission of Florida International University
1.) Refractory Air
Slots through the
Annulus
2.) 6” Leak
Detection
Piping
3.) 4” Air
Supply
Piping
TASK DESCRIPTION
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Advancing the research and academic mission of Florida International University
PROPOSED INSPECTION
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Advancing the research and academic mission of Florida International University
PROPOSED INSPECTION
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Advancing the research and academic mission of Florida International University
PIPE CRAWLER
AIR SUPPLY LINE INSPECTION TOOL
• Remote controlled
• Video feedback
recorded for future
analysis
• Radiation
hardened (~80
rad/hr)
• High temperature
environment
(~170 F)
• To be used in
pipes and fittings
with 3” and 4”
diameters
• Will need to turn
through elbows,
bends, and
transitions
• Crawl through
vertical runs
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Advancing the research and academic mission of Florida International University
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Advancing the research and academic mission of Florida International University
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Advancing the research and academic mission of Florida International University
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Advancing the research and academic mission of Florida International University
MINIROVER
REFRACTORY SLOT INSPECTION TOOL
• Travel through
small cooling
channels
• Remote controlled
• Inserted through a
riser to the
annulus floor
• Live video
feedback
• Radiation hardened
(~80 rad/hr)
• High temperature
environment (~170 F)
• Must not subject the
channel walls to
pressures greater
than 200 psi
• Tethered
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Advancing the research and academic mission of Florida International University
c
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Advancing the research and academic mission of Florida International University
AUTONOMOUS
CABLE MANAGEMENT SYSTEM
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Advancing the research and academic mission of Florida International University
MOVING FORWARD
SEMI-AUTONOMOUS DRIVING
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Advancing the research and academic mission of Florida International University
MOVING FORWARD
SECTIONAL FULL-SCALE MOCKUP
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Advancing the research and academic mission of Florida International University
DRAIN SLOTS
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Advancing the research and academic mission of Florida International University
AIR SLOTS
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Advancing the research and academic mission of Florida International University
HYBRID INSPECTION
SECONDARY LINER BOTTOM CORROSION
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Advancing the research and academic mission of Florida International University
FINAL WORDS
MOVING FORWARD
• Develop delivery mechanism for easy
development
• Provide feedback of other inspection
parameters (temperature, relative
humidity, radiation, etc.)
• Redesign a radiation hardened version
• Scale the design for smaller pipe sizes
• Develop delivery mechanism for easy
deployment
• Provide feedback of other inspection
parameters (temperature, relative
humidity, radiation, etc.)
• Redesign a radiation hardened version
• Autonomous deployment/maneuvering
CRAWLER ROVER