Remote Systems Experience at the Oak Ridge National Laboratory--A Summary of Lessons Learned

Conference · Sat Jan 01 00:00:00 EST 2011

OSTI ID:1033993

Noakes, Mark W ^[1]; Burgess, Thomas W ^[1]; Rowe, John C ^[1]

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1. ORNL

Oak Ridge National Laboratory (ORNL) has a long history in the development of remote systems to support the nuclear environment. ORNL, working in conjunction with Central Research Laboratories, created what is believed to be the first microcomputer-based implementation of dual-arm master-slave remote manipulation. As part of the Consolidated Fuel Reprocessing Program, ORNL developed the dual-arm advanced servomanipulator focusing on remote maintainability for systems exposed to high radiation fields. ORNL also participated in almost all of the various technical areas of the U.S. Department of Energy s Robotics Technology Development Program, while leading the Decontamination and Decommissioning and Tank Waste Retrieval categories. Over the course of this involvement, ORNL has developed a substantial base of working knowledge as to what works when and under what circumstances for many types of remote systems tasks as well as operator interface modes, control bandwidth, and sensing requirements to name a few. By using a select list of manipulator systems that is not meant to be exhaustive, this paper will discuss history and outcome of development, field-testing, deployment, and operations from a lessons learned perspective. The final outcome is a summary paper outlining ORNL experiences and guidelines for transition of developmental remote systems to real-world hazardous environments.

• Research Organization: Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: DE-AC05-00OR22725
• OSTI ID: 1033993
• Resource Relation: Conference: Emergency Management and Robotics for Hazardous Environments, 3rd International Joint Topical Meeting, Knoxville, TN, USA, 20110807, 20110810
• Country of Publication: United States
• Language: English

Related Subjects

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
12 MANAGEMENT OF RADIOACTIVE WASTES, AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
CONSOLIDATED FUEL REPROCESSING PROGRAM
DECOMMISSIONING
DECONTAMINATION
FOCUSING
IMPLEMENTATION
MANAGEMENT
MANIPULATORS
ORNL
RADIATIONS
RECOMMENDATIONS
TANKS
WASTE RETRIEVAL