Robot Deployment System The Inspector Robotic System Consists of: Robot Control Box Robot Deployment System Global Positioning Camera Cables Two Full Systems will be provided for all Outages 9/5/2014

Control Box Power 110-120 Volts AC 30 amp power supply NEMA 5L-30 Socket Three cables One (1) for Global Positioning Camera Two (2) for Robot Screen, Key Board and mouse 9/5/2014

Elements of the Inspector Robot LED Mast Articulated Chassis Camera/Laser/Light, Rangefinder Ports (4-sides) Four Wheel Independent Drive Motor/Steering System 9/5/2014

Elements of the Inspector Robot Sensors* Mounted on Motorized and Encoded Arms, UT and Eddy Current Floor Laser Scanner LED Positioning Lights on Top of Mast * Sensor units by others 9/5/2014

Deployment Through the Man-Way 9/5/2014

Man-Way Deployment Installation Crane is available for use – Minimum 20 ft. Lifting Capability in excess of tank ingress elevation. The robot chassis has two lifting cables attached. - “Y” assembly at the rear - Single cable at top center 9/5/2014

Deployment Through the Man-way The robot is hoisted front end down and lowered through the Man-way. The data cable/umbilical has no tension on it. 9/5/2014

Attaching the Mast The rear “Y” cable is slackened & the robot is pivoted to horizontal. The LED mast is lowered and fastened to the top deck of the robot. The robot is lowered to the tank floor with no tension on the umbilical. On the tank floor, lifting cables are slackened 9/5/2014

Installation of the Global Positioning Camera The Global Positioning Camera (GPC) is clamped to the edge of the manway, facing downward to view the entire tank floor. A manual winch pulls the arm into position Once in position the arm is retained by a drawbar The system’s software detects and tracks the position of the robot using the mast-top LEDs. Installation Position Operating Position 9/5/2014

Installation of the Global Positioning Camera The Global Positioning Camera (GPC) is clamped to the edge of the manway, facing downward to view the entire tank floor. The system’s software detects and tracks the position of the robot using the mast-top LEDs. 9/5/2014

Positioning the Robot The robot is precisely guided via several inputs: GPC Camera Camera/Laser/Light, Rangefinder Ports 3D Laser Scanner Direction, speed and position of wheel pods System software uses the inputs to create a virtual robot and tank floor on the operator’s screen 9/5/2014

Beginning the Tank Floor Survey The robot begins its inspection by finding the Tank Wall and moving around the perimeter. The Robot detects and Maps where Cross-Tank Floor Plate Welds meet the Wall 9/5/2014

Mapping Floor Plate Locations After the Perimeter Survey, the robot follows each long welded joint and detects the short, intersecting welds System software maps the location of each floor plate, plus obstructions such as piping or supports 9/5/2014

Mapping Floor Plate Integrity Inspector robots are able to position a variety of NDE sensors with an accuracy of 1/8th inch (3 mm) over 90% of a tank floor Inspector Robots have an on-board downward facing 3D Laser Scanner for precisely measuring surface features, textures and corrosion 9/5/2014

Mapping and Monitoring Plate Defects Defect locations are correlated with the tank plate map and stored digitally for instant, or later review The robot can be reliably returned to the same point during a survey, and even after it’s been removed and redeployed back in at a later date 9/5/2014

Tank Floor Cleaning Inspector robots can be fitted with tank floor brush and cleaning tools Powered rotating brush and suction attachments are designed for easy mounting Hoses will be routed based on the tools in use. 9/5/2014

Thank You 9/5/2014