This report describes the Phase II testing program of the Hanford Waste End Effector (HWEE) at the Washington River Protection Solutions Cold Test Facility (CTF). Phase II testing builds on the completed Phase I development testing (PNNL-26856) to address some key actual waste challenges as outlined in the Phase II test plan (PNNL-27422). This testing demonstrated retrieval of a mixed layered simulant and retrieval of uneven simulant profiles like that found near tank walls. A separate demonstration using only the HWEE conveyance jet pump assessed the lifting capabilities of this device for transporting waste out of an underground tank. The Pacific Northwest National Laboratory (PNNL)-designed robotic gantry system and associated systems (e.g., tanks, high-pressure water delivery and valves, instruments, etc.) used at CTF during Phase I were modified and upgraded to implement the Phase II test program and measure various process parameters. The tests demonstrated retrieval of water and Kaolin (sludge) simulant to determine pumping rate, dilution factors, and screen fouling rate.
This report will first describe the test equipment, instrumentation, simulant preparation procedures, and testing methodology. Testing results presented include HWEE water usage versus operating pressure of modified components from Phase I, 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. Results of the separate jet pump vertical lift demonstration to a fixed height of at least 35 feet are also presented.