Accession Number:

ADA429286

Title:

Fury: Robotic In-Situ Inspection/Condition Assessment System for Underground Storage Tanks

Descriptive Note:

Final rept.

Corporate Author:

ENGINEER RESEARCH AND DEVELOPMENT CENTER CHAMPAIGN IL CONSTRUCTION ENGINEERING RESEARCH LAB

Report Date:

2004-03-01

Pagination or Media Count:

38.0

Abstract:

The Code of Federal Regulations 40 CFR 280-281 required all underground storage tanks USTs containing petroleum products to be brought into compliance to prevent environmental contamination through leakage. Replacing all older USTs can, in some cases, be prohibitively expensive. One alternative to requiring that tanks pass a precision tightness test is to retrofit USTs with cathodic protection for continued use. This report introduced a remote, robotic UST condition inspectionassessment system named Fury, developed to meet the need for more cost-effective and reliable tank condition assessment methods. Fury is a robotic crawler that moves inside a UST by means of magnetic wheels. It includes 90-degree transition arms for robot positioning on tank end caps and has a central pivot to allow for full motion of the steering head. The robot is designed to fit through an existing small-diameter pipe, which mitigates invasive tank entry during assessment and allows for non-destructive evaluation. Control of the Fury is accomplished through a tether attached to the rear of the robot. Fury uses ultrasonic transducers on a sensor sled to obtain approximately 90,000 wall thickness measurements per hour at over 95 of cylindrical-wall or end-cap locations. 5 tables, 12 figures, 13 refs.

Subject Categories:

  • Properties of Metals and Alloys
  • Cybernetics
  • Containers and Packaging
  • Acoustic Detection and Detectors
  • Environmental Health and Safety

Distribution Statement:

APPROVED FOR PUBLIC RELEASE