Functions and requirements for the light duty utility arm integrated system

Abstract

The Light Duty Utility Arm (LDUA) Integrated System is a mobile robotic system designed to remotely deploy and operate a variety of tools in uninhabitable underground radiological and hazardous waste storage tanks. The system primarily provides a means to inspect, survey, monitor, map and/or obtain specific waste and waste tank data in support of the Tank Waste Remediation System (TWRS) mission at Hanford and remediation programs at other U.S. Department of Energy (DOE) sites.