A robotic inspection experimental system (ARIES) and BOA
ARIES consists of a 6-wheeled K3A mobile platform, a compact subturret, a sonar imaging system, a laser-based light detection and ranging (lidar) navigation beacon system, and a camera positioning system. It has a sonar imaging system used in navigation and collision avoidance and an automatic docking/charging system. Drum-referencing algorithms and camera-positioning algorithms have been included in the primitive instruction set for the robot. The robot`s navigation is based on Synchro-Drive, a patented design that utilizes concentric shafts to distribute drive and steering power to the six wheels simultaneously. ARIES uses a virtual path concept in which only a limited amount of information needs to be provided to the control computer in order to get the vehicle moving. The safety and health evaluation, during the human factors assessment, found several areas of concern including ergonomics, laser hazards, tripping hazards, fall-from-above and struck-by hazards, electrical hazards, and decontamination of the system. BOA is a self-propelled automated mini-enclosure, able to remove insulation from installed pipes, primarily of 4 inch nominal outside diameter. The system is designed for two operators: one oversees the abatement head operation from a distance of 10 or 15 feet using a pendant control and the other bags the debris at a cyclonic bagging station that is attached by a vacuum hose to the cutting head. Since the abatement head is its own enclosure, there may be no need for further enclosures to be built. The system wets and removes asbestos insulation automatically, cutting the debris into consistent chunks and moving the wave under a strong vacuum to a bagging machine. Prior to reaching the bagging operation, the material passes through a water separator which greatly reduces the weight of the debris and allows recirculation of water, after sufficient filtration. The safety and health evaluation, during the human factors assessment, focused on: noise, dust concentrations, ergonomics, and computer software. Industrial hygiene sampling indicated that worker exposures may be kept low enough during normal operation of BOA to eliminate the need for respiratory or heating protection while working around the cutting head and bagging operation. Airborne particulate measurements showed a slight rise over background levels during the operation of BOA, but the average of all the readings during operation was 1.6% of the OSHA respirable dust standard. Air sampling and noise monitoring showed dust to be negligible. Noise was shown to be a potential exposure hazard depending on worker location.
- Research Organization:
- Operating Engineers National HAZMAT Program, Beaver, WV (United States)
- Sponsoring Organization:
- USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
- DOE Contract Number:
- FC21-95MC32260
- OSTI ID:
- 666042
- Report Number(s):
- DOE/MC/32260-4; ON: DE98058273; BR: EW4035000; EW4050000; TRN: AHC29819%%197
- Resource Relation:
- Other Information: PBD: Feb 1998
- Country of Publication:
- United States
- Language:
- English
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