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Concept 1b: Arm Deployment: Waste Retrieval System Deployment Sequence

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9 10 11 12

drawings 1 - 10 show a cable controlled manipulator, called the Easily Manipulated Multiple Armature (EMMA) robot arm, and mast being deployed into the C-106 tank using the RoboCrane. Figure 11 shows EMMA working around a known tank obstacle and the center of gravity distance from the deployment location. Figure 12 shows the mast (left), EMMA (bottom) and deployment system (right).