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At least 1,081 records · Page 60

Nodal Modeling of Tank Pressurization and Draining using a Multi-Node-Ullage Approach

Pressurized expulsion tests of liquid methane were modeled by a nodal code using a multinode ullage approach. Generalized Fluid System Simulation Program (GFSSP), a finite volume based nodal code was used to model the expulsion of liquid methane from a 1.52-meter (5 ft) diameter spherical tank by pressurizing with helium and gaseous methane. The purpose of the model was to estimate the amount of pressurant required and amount of condensation and evaporation of methane during the operation. The ullage was discretized into multiple nodes and each fluid node was connected to solid nodes. Both the fluid and solid nodes grow as the tank drains. The heat and mass transfer between fluid and solid node in the tank ullage was computed. The heat and mass transfer between the bottom ullage node and the liquid methane was also computed. The model predictions were compared with data from twelve test cases. The predicted pressurant consumption for helium pressurization compares with test data with a Mean Absolute Percent Error (MAPE) of 3 %. For autogenous pressurization, where gaseous methane was used to pressurize liquid methane, the predicted pressurant consumption compares with a MAPE of 6%.

Cryogenic Propellant↗

CFD-Assisted Nodal Modeling of Sloshing in a Cryogenic Propellant Tank

During autogenous pressurization, tank sloshing causes a significant increase in pressurant consumption to maintain constant ullage pressure during draining of the tank. This increase in pressurant consumption is caused by a significant increase in condensation at the liquid-vapor interface. Sloshing strongly affects the liquid side heat transfer coefficient and thereby the condensation rate. Traditionally, sloshing is modeled by CFD code using the VOF (Volume of Fluid) method to track the liquid vapor interface during sloshing. CFD calculations require a very fine grid to accurately compute the heat and mass transfer at the interface. Therefore, computations are time consuming and prohibit performing many parametric studies often needed during the design of a new system. This paper describes an alternative approach by developing a CFD-assisted nodal model to predict system parameters more economically with reasonable accuracy. In this approach, a multi-node model of tank pressurization was developed using GFSSP. A multi-node model was needed to account for stratification. The model computes heat and mass transfer at the interface to calculate the condensation rate. The liquid side heat transfer is computed using the parameters of sloshing dynamics such as frequency, wave amplitude, and interface area. The parameters of sloshing dynamics are computed by the CFD code LOCI-Stream. The model predictions were compared with test data for several cases.

Cryogenic Tank Sloshing↗

Seismic Fragility Analysis of a Degraded Condensate Storage Tank

The Korea Atomic Energy Research Institute (KAERI) and Brookhaven National Laboratory are conducting a collaborative research project to develop seismic capability evaluation technology for degraded structures and components in nuclear power plants (NPPs). One of the goals of this collaboration endeavor is to develop seismic fragility analysis methods that consider the potential effects of age-related degradation of structures, systems, and components (SSCs). The essential part of this collaboration is aimed at achieving a better understanding of the effects of aging on the performance of SSCs and ultimately on the safety of NPPs. A recent search of the degradation occurrences of structures and passive components (SPCs) showed that the rate of aging related degradation in NPPs was not significantly large but increasing, as the plants get older. The slow but increasing rate of degradation of SPCs can potentially affect the safety of the older plants and become an important factor in decision making in the current trend of extending the operating license period of the plants (e.g., in the U.S. from 40 years to 60 years, and even potentially to 80 years). The condition and performance of major aged NPP structures such as the containment contributes to the life span of a plant. A frequent misconception of such low degradation rate of SPCs is that such degradation may not pose significant risk to plant safety. However, under low probability high consequence initiating events, such as large earthquakes, SPCs that have slowly degraded over many years could potentially affect plant safety and these effects need to be better understood. As part of the KAERI-BNL collaboration, a condensate storage tank (CST) was analyzed to estimate its seismic fragility capacities under various postulated degradation scenarios. CSTs were shown to have a significant impact on the seismic core damage frequency of a nuclear power plant. The seismic fragility capacity of the CST was developed for five cases: (1) a baseline analysis where the design condition (undegraded) is assumed, (2) a scenario with degraded stainless steel tank shell, (3) a scenario with degraded anchor bolts, (4) a scenario with anchorage concrete cracking, and (5) a perfect correlation of the above three degradation scenarios. This paper will present the methodology for the time-dependent fragility calculation and discuss the insights drawn from this study. To achieve a better understanding of the effects of aging on the performance of structures and passive components (SPCs) in nuclear power plants (NPPs), the Korea Atomic Energy Research Institute (KAERI) and Brookhaven National Laboratory (BNL) are collaborating to develop seismic fragility analysis methods that consider age-related degradation of SPCs. The rate of age-related degradation of SPCs was not found to be significantly large, but increasing as the plants get older. The slow but increasing rate of degradation of SPCs can potentially affect the safety of the older plants and become an important factor in decision making in the current trend of extending the operating license period of the plants (e.g., in the U.S. from 40 years to 60 years, and even potentially to 80 years). In this paper, a condensate storage tank (CST) was analyzed to estimate its seismic fragility capacities under various postulated degradation scenarios. This paper will present the methodology for the time-dependent fragility calculation and discuss the insights drawn from this study.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗

SURFACE GEOPHYSICAL EXPLORATION DEVELOPING NONINVASIVE TOOLS TO MONITOR PAST LEAKS AROUND HANFORD TANK FARMS

A characterization program has been developed at Hanford to image past leaks in and around the underground storage tank facilities. The program is based on electrical resistivity, a geophysical technique that maps the distribution of electrical properties of the subsurface. The method was shown to be immediately successful in open areas devoid of underground metallic infrastructure, due to the large contrast in material properties between the highly saline waste and the dry sandy host environment. The results in these areas, confirmed by a limited number of boreholes, demonstrate a tendency for the lateral extent of the underground waste plume to remain within the approximate footprint of the disposal facility. In infrastructure-rich areas, such as tank farms, the conventional application of electrical resistivity using small point-source surface electrodes initially presented a challenge for the resistivity method. The method was then adapted to directly use the buried infrastructure as electrodes for both transmission of electrical current and measurements of voltage. For example, steel-cased wells that surround the tanks were used as long electrodes, which helped to avoid much of the infrastructure problems. Overcoming the drawbacks of the long electrode method has been the focus of our work over the past seven years. The drawbacks include low vertical resolution and limited lateral coverage. The lateral coverage issue has been improved by supplementing the long electrodes with surface electrodes in areas devoid of infrastructure. The vertical resolution has been increased by developing borehole electrode arrays that can fit within the small-diameter drive casing of a direct push rig. The evolution of the program has led to some exceptional advances in the application of geophysical methods, including logistical deployment of the technology in hazardous areas, development of parallel processing resistivity inversion algorithms, and adapting the processing tools to accommodate electrodes of all shapes and locations. The program is accompanied by a full set of quality assurance procedures that cover the layout of sensors, measurement strategies, and software enhancements while insuring the integrity of stored data. The data have been shown to be useful in identifying previously unknown contaminant sources and defining the footprint of precipitation recharge barriers to retard the movement of existing contamination.

99 GENERAL AND MISCELLANEOUS↗

Progress of the Enhanced Hanford Single Shell Tank (SST) Integrity Project

To improve the understanding of the single-shell tanks (SSTs) integrity, Washington River Protection Solutions, LLC (WRPS), the USDOE Hanford Site tank contractor, developed an enhanced Single-Shell Tank Integrity Project (SSTIP) in 2009. An expert panel on SST integrity, consisting of various subject matters experts in industry and academia, was created to provide recommendations supporting the development of the project. This panel developed 33 recommendations in four main areas of interest: structural integrity, liner degradation, leak integrity and prevention, and mitigation of contamination migration. In late 2010, seventeen of these recommendations were used to develop the basis for the M-45-10-1 Change Package for the Hanford Federal Agreement and Compliance Order, which is also known as the Tri-Party Agreement.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Optimization of Saltcake Removal Flowsheet at SRS through Incorporation of Testing and In-Tank Waste Experience

Saltcake removal at SRS may be performed for several reasons: to provide space for evaporator operation (i.e., to precipitate more salt in the drop tank), to provide feed for salt processing (i.e. immobilize the waste), or to remove the salt for tank closure. Many different salt dissolution techniques have been employed in the 40 years that SRS has been performing salt removal, from a basic “Add, Sit, Remove” method (water is added on top of the saltcake and time is allowed for diffusion), to performing interstitial liquid removal, or using mixing devices to promote contact with the liquid. Lessons learned from previous saltcake removal campaigns, in addition to testing and modeling, have led to opportunities for improvements to the overall saltcake removal process. This includes better understanding of salt properties and behavior during dissolution; the primary concerns for salt dissolution are the release of radiolytic hydrogen and criticality prevention (post-dissolution). Recent developments in salt dissolution include the reuse of dilute supernate and a semi-continuous dissolution (SCD) process, where low volume mixing eductors are used to deliver water near the surface of the saltcake at the same rate as the salt solution is removed and transferred to a receipt tank.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Gas Retention and Release from Hanford Site Sludge Waste Tanks

Radioactive wastes from nuclear fuel processing are stored in large underground storage tanks at the Hanford Site. Solid wastes can be divided into saltcake (mostly precipitated soluble sodium nitrate and nitrite salts with some interstitial liquid consisting of concentrated salt solutions) and sludge (mostly low solubility aluminum and iron compounds with relatively dilute interstitial liquid). Waste generates hydrogen through the radiolysis of water and organic compounds, radio-thermolytic decomposition of organic compounds, and corrosion of a tank’s carbon steel walls. Nonflammable gases, such as nitrous oxide and nitrogen, are also produced. Additional flammable gases (e.g., ammonia and methane) are generated by chemical reactions between various degradation products of organic chemicals present in the tanks.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Determination of Erosion/Corrosion Rates in Hanford Tank Farms Radioactive Waste Transfer System Pipelines

The twenty-eight double-shell underground radioactive waste storage tanks at the U. S. Department of Energy’s Hanford Site near Richland, WA are interconnected by the Waste Transfer System network of buried steel encased pipelines and pipe jumpers in below-grade pits. The pipeline material is stainless steel or carbon steel in 51 mm to 152 mm (2 in. to 6 in.) sizes. The pipelines carry slurries ranging up to 20 volume percent solids and supernatants with less than one volume percent solids at velocities necessary to prevent settling. The pipelines, installed between 1976 and 2011, were originally intended to last until the 2028 completion of the double-shell tank storage mission. The mission has been subsequently extended. In 2010 the Tank Operating Contractor began a systematic evaluation of the Waste Transfer System pipeline conditions applying guidelines from API 579-1/ASME FFS-1 (2007), Fitness-For-Service. Between 2010 and 2014 Fitness-for-Service examinations of the Waste Transfer System pipeline materials, sizes, and components were completed. In parallel, waste throughput histories were prepared allowing side-by-side pipeline wall thinning rate comparisons between carbon and stainless steel, slurries and supernatants and throughput volumes. The work showed that for transfer volumes up to 6.1E+05 m 3 (161 million gallons), the highest throughput of any pipeline segment examined, there has been no detectable wall thinning in either stainless or carbon steel pipeline material regardless of waste fluid characteristics or throughput. The paper describes the field and laboratory evaluation methods used for the Fitness-for-Service examinations, the results of the examinations, and the data reduction methodologies used to support Hanford Waste Transfer System pipeline wall thinning conclusions.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Modeling analysis for grout hopper waste tank

The Saltstone facility at Savannah River Site (SRS) has a grout hopper tank to provide agitator stirring of the Saltstone feed materials. The tank has about 300 gallon capacity to provide a larger working volume for the grout nuclear waste slurry to be held in case of a process upset, and it is equipped with a mechanical agitator, which is intended to keep the grout in motion and agitated so that it won't start to set up. The primary objective of the work was to evaluate the flow performance for mechanical agitators to keep an adequate stirring of the feed materials and to estimate an agitator speed which provides acceptable flow performance with a 45 deg. pitched four-blade agitator. In addition, the power consumption required for the agitator operation was estimated. The modeling calculations were performed by taking two steps of the Computational Fluid Dynamics (CFD) modeling approach. A series of sensitivity calculations for different designs of agitators and operating conditions have been performed to investigate the impact of key parameters on the grout hydraulic performance in a 300-gallon hopper tank. Recommended operational guidance was developed by using the basic concept that local shear rates and flow patterns can be used as a measure of hydraulic performance and spatial stirring. Flow patterns and fluid residence time were estimated by a Lagrangian integration technique along the flow paths from the material feed inlet. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

A Dual Regime Reactive Transport Model for Simulation of High Level Waste Tank Closure Scenarios - 13375

A numerical simulation framework is presented in this paper for estimating evolution of pH and release of major species from grout within high-level waste tanks after closure. This model was developed as part of the Cementitious Barriers Partnership. The reactive transport model consists of two parts - (1) transport of species, and (2) chemical reactions. The closure grout can be assumed to have varying extents of cracking and composition for performance assessment purposes. The partially or completely degraded grouted tank is idealized as a dual regime system comprising of a mobile region having solid materials with cracks and macro-pores, and an immobile/stagnant region having solid matrix with micropores. The transport profiles of the species are calculated by incorporating advection of species through the mobile region, diffusion of species through the immobile/stagnant region, and exchange of species between the mobile and immobile regions. A geochemical speciation code in conjunction with the pH dependent test data for a grout material is used to obtain a mineral set that best describes the trends in the test data of the major species. The dual regime reactive transport model predictions are compared with the release data from an up-flow column percolation test. The coupled model is then used to assess effects of crack state of the structure, rate and composition of the infiltrating water on the pH evolution at the grout-waste interface. The coupled reactive transport model developed in this work can be used as part of the performance assessment process for evaluating potential risks from leaching of a cracked tank containing elements of human health and environmental concern. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Improved Management of the Technical Interfaces Between the Hanford Tank Farm Operator and the Hanford Waste Treatment Plant - 13383

The Department of Energy (DOE) is constructing the Waste Treatment and Immobilization Plant (WTP) at the Hanford site in Washington to treat and immobilize approximately 114 million gallons of high level radioactive waste (after all retrievals are accomplished). In order for the WTP to be designed and operated successfully, close coordination between the WTP engineering, procurement, and construction contractor, Bechtel National, Inc. and the tank farms operating contractor (TOC), Washington River Protection Solutions, LLC, is necessary. To develop optimal solutions for DOE and for the treatment of the waste, it is important to deal with the fact that two different prime contractors, with somewhat differing contracts, are tasked with retrieving and delivering the waste and for treating and immobilizing that waste. The WTP and the TOC have over the years cooperated to manage the technical interface. To manage what is becoming a much more complicated interface as the WTP design progresses and new technical issues have been identified, an organizational change was made by WTP and TOC in November of 2011. This organizational change created a co-located integrated project team (IPT) to deal with mutual and interface issues. The Technical Organization within the One System IPT includes employees from both TOC and WTP. This team has worked on a variety of technical issues of mutual interest and concern. Technical issues currently being addressed include: - The waste acceptance criteria; - Waste feed delivery and the associated data quality objectives (DQO); - Evaluation of the effects of performing a riser cut on a single shell tank on WTP operations; - The disposition of secondary waste from both TOC and WTP; - The close coordination of the TOC double shell tank mixing and sampling program and the Large Scale Integrated Test (LSIT) program for pulse jet mixers at WTP along with the associated responses to the Defense Nuclear Facilities Safety Board (DNFSB) Recommendation 2010-2; - Development of a set of alternatives to the current baseline that involve aspects of direct feed, feed conditioning, and design changes. The One System Technical Organization has served WTP, TOC, and DOE well in managing and resolving issues at the interface. This paper describes the organizational structure used to improve the interface and several examples of technical interface issues that have been successfully addressed by the new organization. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Cryograb: A Novel Approach to the Retrieval of Waste from Underground Storage Tanks - 13501

The UK's National Nuclear Laboratory (NNL) is investigating the use of cryogenic technology for the recovery of nuclear waste. Cryograb, freezing the waste on a 'cryo-head' and then retrieves it as a single mass which can then be treated or stabilized as necessary. The technology has a number of benefits over other retrieval approaches in that it minimizes sludge disturbance thereby reducing effluent arising and it can be used to de-water, and thereby reduce the volume of waste. The technology has been successfully deployed for a variety of nuclear and non-nuclear waste recovery operations. The application of Cryograb for the recovery of waste from US underground storage tanks is being explored through a US DOE International Technology Transfer and Demonstration programme. A sample deployment being considered involves the recovery of residual mounds of sludge material from waste storage tanks at Savannah River. Operational constraints and success criteria were agreed prior to the completion of a process down selection exercise which specified the preferred configuration of the cryo-head and supporting plant. Subsequent process modeling identified retrieval rates and temperature gradients through the waste and tank infrastructure. The work, which has been delivered in partnership with US DOE, SRNL, NuVision Engineering and Frigeo AB has demonstrated the technical feasibility of the approach (to TRL 2) and has resulted in the allocation of additional funding from DOE to take the programme to bench and cold pilot-scale trials. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Continued Evaluation of the Pulse-Echo Ultrasonic Instrument for Critical Velocity Determination during Hanford Tank Waste Transfer Operations - 12518

The delivery of Hanford double-shell tank waste to the Hanford Tank Waste Treatment and Immobilization Plant (WTP) will be governed by specific Waste Acceptance Criteria that are identified in ICD 19 - Interface Control Document for Waste Feed. Waste must be certified as acceptable before it can be delivered to the WTP. The fluid transfer velocity at which solid particulate deposition occurs in waste slurry transport piping (critical velocity) is a key waste parameter that must be accurately characterized to determine if the waste is acceptable for transfer to the WTP. In 2010 Washington River Protection Solutions and the Pacific Northwest National Laboratory began evaluating the ultrasonic PulseEcho instrument to accurately identify critical velocities in a horizontal slurry transport pipeline for slurries containing particles with a mean particle diameter of >50 micrometers. In 2011 the PulseEcho instrument was further evaluated to identify critical velocities for slurries containing fast-settling, high-density particles with a mean particle diameter of <15 micrometers. This two-year evaluation has demonstrated the ability of the ultrasonic PulseEcho instrument to detect the onset of critical velocity for a broad range of physical and rheological slurry properties that are likely encountered during the waste feed transfer operations between the Hanford tank farms and the WTP. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Estimating the Rate of Solids Accumulation in Double Shell Tanks - 17093

This project describes a method of estimating the rate of solids accumulation in Low Activity Waste Pretreatment System (LAWPS) Double Shell Tanks (DSTs) from solids entrainment and precipitation in order to identify and recommend appropriate control measures to protect LAWPS feed schedules. By comparing various volume fraction solids in transfer volumes with the available tank storage needed to maintain LAWPS feed schedules the number of possible transfers before solids removal is necessary can be determined. A family of curves spanning the range of values of volume fraction solids most frequently observed in grab samples was charted to show the transfer batch number at which point accumulated solids inhibit sufficient storage for waste feed schedules and thereby warrant solids removal. Results of this study indicate that in order to preclude solids removal activities during the LAWPS waste transfers, volume fraction settled solids levels in LAWPS transfers are required to stay below 0.0133 and 0.0183 for Feed Staging Tank 1 and 2, respectively. Results of this study show that the rate of solids accumulation will exceed the requirement, and therefore solids removal capability for LAWPS DSTs upgrades is required. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Advances in the glass formulations for the Hanford Tank Waste Treatment and Immobilization Plant - 15053

The Department of Energy-Office of River Protection (DOE-ORP) is constructing the Hanford Tank Waste Treatment and Immobilization Plant (WTP) to treat radioactive waste currently stored in underground tanks at the Hanford site in Washington. The WTP that is being designed and constructed by a team led by Bechtel National, Inc. (BNI) will separate the tank waste into High Level Waste (HLW) and Low Activity Waste (LAW) fractions with the majority of the mass (∼90%) directed to LAW and most of the activity (>95%) directed to HLW. The pretreatment process, envisioned in the baseline, involves the dissolution of aluminum-bearing solids so as to allow the aluminum salts to be processed through the cesium ion exchange and report to the LAW Facility. There is an oxidative leaching process to affect a similar outcome for chromium-bearing wastes. Both of these unit operations were advanced to accommodate shortcomings in glass formulation for HLW inventories. A by-product of this are a series of technical challenges placed upon materials selected for the processing vessels. The advances in glass formulation play a role in revisiting the flow sheet for the WTP and hence, the unit operations that were being imposed by minimal waste loading requirements set forth in the contract for the design and construction of the plant. Another significant consideration to the most recent revision of the glass models are the impacts on resolution of technical questions associated with current efforts for design completion. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Decommissioning sodium dump tanks - 15547

The Nuclear Decommissioning Authority (NDA) is a non-departmental public body of the UK Government responsible for managing the effective and efficient clean-up of the UK's nuclear legacy. DSRL (Dounreay Site Restoration Limited, a wholly-owned subsidiary of the Cavendish Dounreay Partnership Ltd, a consortium of Cavendish Nuclear, CH2M HILL and URS) is the site licence company operating under contract to the NDA and funded by the NDA for the clean-up and demolition of the Dounreay Site, Britain's former centre of fast reactor research and development, near Thurso, Scotland, including decommissioning the Dounreay Prototype Fast Reactor (PFR). The plutonium metal fuel PFR was the second and last fast reactor to be built in the UK, with construction commencing in 1968. The reactor closed in 1994 and was de-fuelled, but the reactive sodium remaining in the cooling system required decommissioning, and approximately 12 tonnes of low level waste (LLW) sodium remained in the un-heated dump tanks. This paper highlights the approach used for decommissioning the dump tanks and their contents. The sodium was removed as a solid at ambient temperature, packaged, and staged for destruction at a later date. The tanks and pipework were then cleaned, size reduced and packaged for disposal as LLW. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Determination of Erosion/Corrosion Rates in Hanford Tank Farms Radioactive Waste Transfer System Pipelines - 16395

The twenty-eight double-shell underground radioactive waste storage tanks at the U.S. Department of Energy's Hanford Site near Richland, WA are interconnected by the Waste Transfer System network of buried steel encased pipelines and pipe jumpers in below-grade pits. The pipeline material is stainless steel or carbon steel in 51 mm to 152 mm (2 in. to 6 in.) sizes. The pipelines carry slurries ranging up to 20 volume percent solids and supernatants with less than one volume percent solids at velocities necessary to prevent settling. The pipelines, installed between 1976 and 2011, were originally intended to last until the 2028 completion of the double-shell tank storage mission. The mission has been subsequently extended. In 2010 the Tank Operating Contractor began a systematic evaluation of the Waste Transfer System pipeline conditions applying guidelines from API 579-1/ASME FFS-1 (2007), Fitness-For- Service. Between 2010 and 2014 Fitness-for-Service examinations of the Waste Transfer System pipeline materials, sizes, and components were completed. In parallel, waste throughput histories were prepared allowing side-by-side pipeline wall thinning rate comparisons between carbon and stainless steel, slurries and supernatants and throughput volumes. The work showed that for transfer volumes up to 6.1 E+05 m{sup 3} (161 million gallons), the highest throughput of any pipeline segment examined, there has been no detectable wall thinning in either stainless or carbon steel pipeline material regardless of waste fluid characteristics or throughput. The paper describes the field and laboratory evaluation methods used for the Fitness-for-Service examinations, the results of the examinations, and the data reduction methodologies used to support Hanford Waste Transfer System pipeline wall thinning conclusions. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Robotic Tank Refurbishment System (TRS) for U.S. Naval Vessels - 18395

A remotely-operated Tank Refurbishment System (TRS) has been developed to reduce the personnel hazards associated with manual refurbishment of U.S. Naval vessel tanks. This system is capable of using a variety of tools to complete the necessary refurbishment tasks within the tanks. In 2017, the design for this system was completed, and preliminary testing was successfully completed. (authors)

42 ENGINEERING↗