ANNULUS CLOSURE TECHNOLOGY DEVELOPMENT INSPECTION/SALT DEPOSIT CLEANING MAGNETIC WALL CRAWLER

The Liquid Waste Technology Development organization is investigating technologies to support closure of radioactive waste tanks at the Savannah River Site (SRS). Tank closure includes removal of the wastes that have propagated to the tank annulus. Although amounts and types of residual waste materials in the annuli of SRS tanks vary, simple salt deposits are predominant on tanks with known leak sites. This task focused on developing and demonstrating a technology to inspect and spot clean salt deposits from the outer primary tank wall located in the annulus of an SRS Type I tank. The Robotics, Remote and Specialty Equipment (RRSE) and Materials Science and Technology (MS&T) Sections of the Savannah River National Laboratory (SRNL) collaborated to modify and equip a Force Institute magnetic wall crawler with the tools necessary to demonstrate the inspection and spot cleaning in a mock-up of a Type I tank annulus. A remote control camera arm and cleaning head were developed, fabricated and mounted on the crawler. The crawler was then tested and demonstrated on a salt simulant also developed in this task. The demonstration showed that the camera is capable of being deployed in all specified locations and provided the views needed for the planned inspection. It also showed that the salt simulant readily dissolves with water. The crawler features two different techniques for delivering water to dissolve the salt deposits. Both water spay nozzles were able to dissolve the simulated salt, one is more controllable and the other delivers a larger water volume. The cleaning head also includes a rotary brush to mechanically remove the simulated salt nodules in the event insoluble material is encountered. The rotary brush proved to be effective in removing the salt nodules, although some fine tuning may be required to achieve the best results. This report describes the design process for developing technology to add features to a commercial wall crawler and the results of the demonstration testing performed on the integrated system. The crawler was modified to address the two primary objectives of the task (inspection and spot cleaning). SRNL recommends this technology as a viable option for annulus inspection and salt removal in tanks with minimal salt deposits (such as Tanks 5 and 6.) This report further recommends that the technology be prepared for field deployment by: (1) developing an improved mounting system for the magnetic idler wheel, (2) improving the robustness of the cleaning tool mounting, (3) resolving the nozzle selection valve connections, (4) determining alternatives for the brush and bristle assembly, and (5) adding a protective housing around the motors to shield them from water splash. In addition, SRNL suggests further technology development to address annulus cleaning issues that are apparent on other tanks that will also require salt removal in the future such as: (1) Developing a duct drilling device to facilitate dissolving salt inside ventilation ducts and draining the solution out the bottom of the ducts. (2) Investigating technologies to inspect inside the vertical annulus ventilation duct