In Situ Tank Inspection System (ITIS)

RedZone Robotics, Inc. proposes to develop a system capable of performing automated inspections on a variety of underground storage tanks (UST) configurations. The system will consist of the following parts: 1) manipulator/mechanism for sensor delivery; 2) collision avoidance sensing; 3) force or other feedback sensor for proper sensor placement; 4) computer feedback and control; 5) software for automated inspection/data gathering. The objectives of the Phase I efforts are to develop a suitable mechanism which can be deployed into a variety of different UST configurations. Also, the sensing system used to determine the robot's location within the tank is a key technology which must be adapted from current techniques. A prototype of the mechanism will be built to prove the selected concept. After testing on a UST mock-up, the design will be refined and modified with the goal of providing a hardened design. Phase II and III will be used to develop the controller to dirve the sytem and develop custom software and procedures for performing inspections.