Cleaning apparatus

An apparatus comprising:

• a retractable assembly comprising:
• a center section;
• a first segmented arm having a first plurality of concentric hollow rods and configured to extend in a first direction from the center section;
• a second segmented arm having a second plurality of concentric hollow rods and configured to extend in a second direction from the center section, wherein the second direction is opposite the first direction;
• a first gripper attached to the first segmented arm;
• and
• a second gripper attached to the second segmented arm;
• a pneumatic system associated with the retractable assembly;
• and
• a self-propelled cleaning carriage surrounding at least a portion of the retractable assembly, wherein the self-propelled cleaning carriage is configured to move along at least one of the first segmented arm or the second segmented arm.

A method comprising:

• extending a first segmented arm of a retractable assembly in a first direction relative to a center section of the retractable assembly such that the retractable assembly contacts a first wall of a vessel;
• extending a second segmented arm of the retractable assembly in a second direction relative to the center section of the retractable assembly such that the retractable assembly contacts a second wall of the vessel, wherein the second direction is opposite the first direction;
• and
• propelling a self-propelled cleaning carriage along one of the first extended segmented arm or the second extended segmented arm of the retractable assembly.