Intelligent mobile sensor system for drum inspection and monitoring: Topical report, October 1, 1993--April 22, 1995
The objective of the Intelligent Mobile Sensor System (IMSS) project is to develop an operational system for monitoring and inspection activities for waste storage facility operations at several DOE sites. Specifically, the product of this effort is a robotic device with enhanced intelligence and maneuverability capable of conducting routine inspection of stored waste drums. The system has an integrated sensor suite for problem-drum detection, and is linked to a site database both for inspection planning and for data correlation, updating, and report generation. The system is capable of departing on an assigned mission, collecting required data, recording which portions of its mission had to be aborted or modified due to environmental constraints, and reporting back when the mission is complete. Successful identification of more than 96% of drum defects has been demonstrated in a high fidelity waste storage facility mockup. Identified anomalies included rust spots, rust streaks, areas of corrosion, dents, and tilted drums. All drums were positively identified and correlated with the site database. This development effort is separated into three phases of which phase two is now complete. The second phase demonstrated a prototype system appropriate for operational use in an actual storage facility. The prototype provides an integrated design that considers operational requirements, hardware costs, maintenance, safety, and robustness. The final phase will demonstrate commercial viability using the prototype vehicle in a pilot waste operations and inspection project. This report summarizes the design and evaluation of the new IMSS Phase 2 system and vehicle. Several parts of the IMSS Phase 1 Topical (Final) Report, which describes the requirements, design guidelines, and detailed design of the Phase 1 IMSS vehicle, are incorporated here, with modifications to reflect the changes in the design and the new elements added during the Phase 2 work.
- Research Organization:
- Lockheed Martin Astronautics, Littleton, CO (United States)
- Sponsoring Organization:
- USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
- DOE Contract Number:
- AC21-92MC29112
- OSTI ID:
- 465915
- Report Number(s):
- DOE/MC/29112-5399; ON: DE97002136; TRN: 97:010197
- Resource Relation:
- Other Information: PBD: [1997]
- Country of Publication:
- United States
- Language:
- English
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