Hanford Tanks Initiative alternate retrieval system demonstrations - final report of testing performed by Grey Pilgrim LLC

A waste retrieval system has been defined to provide a safe and cost-effective solution to the Hanford Tanks Initiative. This system consists of the EMMA robotic manipulator (by GreyPilgrim LLC) and the lightweight Scarifier (by Waterjet Technology, Inc.) powered by a 36-kpsi Jet-Edge diesel powered high pressure pumping system. For demonstration and testing purposes, an air conveyance system was utilized to remove the waste from the simulated tank floor. The EMMA long reach manipulator utilized for this demonstration was 33 feet long. It consisted of 4 hydraulically controlled stages of varying lengths and coupling configurations.