An application of oscillation-damped motion for suspended payloads to the advanced integrated maintenance system

Noakes, M W; Petterson, B J; Werner, J C

Title: An application of oscillation-damped motion for suspended payloads to the advanced integrated maintenance system

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Abstract

The transportation of objects using overhead cranes can induce pendular motion of the object, which usually must be damped or allowed to decay before the next process can take place. Recent work at Sandia National Laboratories has shown that oscillation-damped transport and swing-free stops are possible by properly programming the acceleration of the transporting crane. Initial studies have been completed using a CIMCORP XR6100 gantry robot. The Advanced Integrated Maintenance System (AIMS) is an engineering and operations test bed developed for remote maintenance and handling studies within the Consolidated Fuel Reprocessing Program (CFRP) at Oak Ridge National Laboratory. The goal of CFRP has been to advanced the technology of in-cell systems planned for future nuclear fuel cycle facilities. The AIMS provides the capabilities to examine the needs and constraints necessary for hot-cell remote maintenance and includes a force-reflecting master/slave teleoperator and overhead transporter system. The associated control system provides a flexible programming environment conducive to controls experimentation. This paper reviews the theory associated with oscillation-damped trajectories for simply suspended objects and describes a specific implementation of the oscillation damping methods for the AIMS transporter. Hardware and software requirements and constraints for proper operation are discussed.

Authors:

Noakes, M W ^[1]; Petterson, B J; Werner, J C ^[2]

Oak Ridge National Lab., TN (USA)
Sandia National Lab., Albuquerque, NM (USA)

Publication Date:: Fri Jun 01 00:00:00 EDT 1990

OSTI Identifier:: 6131183

Report Number(s):: CONF-900608-
Journal ID: ISSN 0003-018X; CODEN: TANSA; TRN: 91-007626

Resource Type:: Conference

Journal Name:: Transactions of the American Nuclear Society; (USA)

Additional Journal Information:: Journal Volume: 61; Conference: American Nuclear Society (ANS) annual meeting, Nashville, TN (USA), 10-14 Jun 1990; Journal ID: ISSN 0003-018X

Country of Publication:: United States

Language:: English

Subject:: 11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS; 42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; NUCLEAR FACILITIES; REMOTE HANDLING EQUIPMENT; COMPUTERIZED CONTROL SYSTEMS; ACCELERATION; ALGORITHMS; ARTIFICIAL INTELLIGENCE; CRANES; DAMPING; DATA ACQUISITION SYSTEMS; FIBER OPTICS; FUEL CYCLE CENTERS; HOT CELLS; MAINTENANCE; MANIPULATORS; MATERIALS HANDLING; OPERATION; ORNL; OSCILLATIONS; PENDULUMS; PLANNING; PROGRAMMING; REAL TIME SYSTEMS; REMOTE HANDLING; SERVOMECHANISMS; TRANSPORT; CONTROL EQUIPMENT; CONTROL SYSTEMS; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; MATHEMATICAL LOGIC; NATIONAL ORGANIZATIONS; US AEC; US DOE; US ERDA; US ORGANIZATIONS; 050800* - Nuclear Fuels- Spent Fuels Reprocessing; 420203 - Engineering- Handling Equipment & Procedures; 990200 - Mathematics & Computers

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                    Noakes, M W, Petterson, B J, and Werner, J C. An application of oscillation-damped motion for suspended payloads to the advanced integrated maintenance system.  United States: N. p., 1990. 
        Web.

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                    Noakes, M W, Petterson, B J, & Werner, J C. An application of oscillation-damped motion for suspended payloads to the advanced integrated maintenance system.  United States.

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                    Noakes, M W, Petterson, B J, and Werner, J C. 1990.  
        "An application of oscillation-damped motion for suspended payloads to the advanced integrated maintenance system".  United States.

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@article{osti_6131183,

  title        = {An application of oscillation-damped motion for suspended payloads to the advanced integrated maintenance system},

  author       = {Noakes, M W and Petterson, B J and Werner, J C},

  abstractNote = {The transportation of objects using overhead cranes can induce pendular motion of the object, which usually must be damped or allowed to decay before the next process can take place. Recent work at Sandia National Laboratories has shown that oscillation-damped transport and swing-free stops are possible by properly programming the acceleration of the transporting crane. Initial studies have been completed using a CIMCORP XR6100 gantry robot. The Advanced Integrated Maintenance System (AIMS) is an engineering and operations test bed developed for remote maintenance and handling studies within the Consolidated Fuel Reprocessing Program (CFRP) at Oak Ridge National Laboratory. The goal of CFRP has been to advanced the technology of in-cell systems planned for future nuclear fuel cycle facilities. The AIMS provides the capabilities to examine the needs and constraints necessary for hot-cell remote maintenance and includes a force-reflecting master/slave teleoperator and overhead transporter system. The associated control system provides a flexible programming environment conducive to controls experimentation. This paper reviews the theory associated with oscillation-damped trajectories for simply suspended objects and describes a specific implementation of the oscillation damping methods for the AIMS transporter. Hardware and software requirements and constraints for proper operation are discussed.},

  doi          = {},

  url          = {https://www.osti.gov/biblio/6131183},
  journal      = {Transactions of the American Nuclear Society; (USA)},

  issn         = {0003-018X},

  number       = ,

  volume       = 61,

  place        = {United States},

  year         = {Fri Jun 01 00:00:00 EDT 1990},

  month        = {Fri Jun 01 00:00:00 EDT 1990}

}

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