Advanced Retrieval Demonstrations of the Hanford Waste End Effector - 19383
This paper describes advanced retrieval demonstrations of the Hanford Waste End Effector (HWEE) at the Washington River Protection Solutions (WRPS) Cold Test Facility conducted by Pacific Northwest National Laboratory (PNNL) in co-operation with the U.S. Department of Energy - Office of River Protection and WRPS. The HWEE is a water-based scarifier originally developed by PNNL for the U.S. Department of Energy tank retrieval systems in the 1990's as the confined sluicing end effector and later used with additional development in the waste retrieval of tanks at Oak Ridge National Laboratory. The HWEE is being assessed for potential use in Hanford tank retrievals because it is expected to use less water during waste retrieval than other water-based methods (e.g., sluicing) previously used in Hanford tanks. This is primarily because the HWEE uses three rotating high-pressure jets for dislodging the waste and a high-velocity conveyance system to retrieve the water and the waste locally at the point of waste dislodging. The retrieval demonstrations build on previous development testing (Phase I) completed in 2017 by addressing key tank waste challenges, including retrieval of a mixed layered simulant and retrieval of uneven simulant profiles like that found near tank walls. The tests involved retrieval of water and kaolin (sludge) simulant to determine pumping rate, dilution factors, and a demonstration of vertical pumping capability. Upgrades to the HWEE for Phase II testing included a more robust inlet screen, internal flush jet modification for lower water usage, and removal of the external flush mole that was not used during Phase I retrieval testing. In addition, a rotational positioning capability was added to the three-dimensional gantry to gain additional movement capability and flexibility needed to implement more complex retrieval mining techniques. Two simulant configuration options using existing simulant materials were defined to represent key Hanford tank waste properties: 1) layered waste (e.g., strong crust over weaker sediment) and 2) topography that is representative of tank waste (uneven surface). Historical information from Hanford waste, including tank history, sampling reports, and images, was investigated to define the simulant characteristics and physical configuration. Using the layered simulant configuration, retrieval tests focused on demonstrating the same operational parameters irrespective of simulant strength. The focus of the topographical retrieval test was to demonstrate the ability to clean next to the tank wall using a tilted HWEE and to demonstrate water confinement using a specific mining strategy. This paper will describe the Phase II test equipment, instrumentation, simulant preparation procedures, and testing methodology. Testing results that will be presented include HWEE water usage versus operating pressure, simulant characterization data, dilution ratios, and retrieval rates. Reaction forces and other factors that would affect the remote operation of the HWEE will also be presented. (authors)