Robotic scrubbing and filtering system used for cleaning and inspecting petroleum storage tanks, basins and tank seals, namely, a remotely operated submersible vehicle containing ultrasonic transducers, flushing system to clean the transducers, augers to pulverize sludge or sediment, and pumping system to remove sludge or sediment from a contained area

'area':50 'auger':33 'basin':14 'clean':8,30 'contain':24,49 'filter':4 'flush':27 'inspect':10 'name':18 'oper':21 'petroleum':11 'pulver':35 'pump':40 'remot':20 'remov':43 'robot':1 'scrub':2 'seal':17 'sediment':38,46 'sludg':36,44 'storag':12 'submers':22 'system':5,28,41 'tank':13,16 'transduc':26,32 'ultrason':25 'use':6 'vehicl':23

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