Automated robotic workcell for waste characterization

Conference · Fri Dec 31 04:00:00 EST 1993

OSTI ID:141208

Dougan, A D; Gustaveson, D K; Alvarez, R A; Holliday, M ^[1]

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1. Lawrence Livermore National Laboratory, CA (United States)

The authors have successfully demonstrated an automated multisensor-based robotic workcell for hazardous waste characterization. The robot within this workcell uses feedback from radiation sensors, a metal detector, object profile scanners, and a 2D vision system to automatically segregate objects based on their measured properties. The multisensor information is used to make segregation decisions of waste items and to facilitate the grasping of objects with a robotic arm. The authors used both sodium iodide and high purity germanium detectors as a two-step process to maximize throughput. For metal identification and discrimination, the authors are investigating the use of neutron interrogation techniques.

• OSTI ID: 141208
• Report Number(s): CONF-930304--; CNN: W-7405-ENG-48
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
44 INSTRUMENTATION
INCLUDING NUCLEAR AND PARTICLE DETECTORS
AUTOMATION
DEMONSTRATION PROGRAMS
GE SEMICONDUCTOR DETECTORS
HOT CELLS
NAI DETECTORS
RADIOACTIVE WASTES
REMOTE HANDLING
ROBOTS