Tracking Robot Location for Non-Destructive Evaluation of Double-Shell Tanks

(1) Background: Non-destructive evaluation of double-shell nuclear-waste storage tanks at the U.S. Department of Energy’s Hanford site requires a robot to navigate a network of air slots in the confined space between primary and secondary tanks. Situational awareness, data collection, and data interpretation require continuous tracking of the robot’s location. (2) Methods: Robot location is continuously monitored using video image analysis for short distances and laser ranging for absolute location. (3) Results: The technique was demonstrated in our laboratory using a mockup of air slot and robot. (4) Conclusions: Location tracking and display provide decision support to inspectors and lay the groundwork for automated data collection.