DOE/NE robotics for advanced reactors
ORNL is continuing to transfer technology under the NE Robotics for Advanced Reactors Program to other programs and institutions. The HELIX computer architecture developed under the NE robotics program are currently being transferred to the University of Florida for control of their Articulated Transporter Manipulator (ATMS or snake) robot prototype. The Modular Integrated Control architecture (MICA), also developed under the NE Robotics Program is currently being utilized by the DOE ER WM Robotics Program to control a long-reach manipulator for use in cleanup of underground storage tanks at Hanford. HELIX and MICA were developed at ORNL in response to the need to integrate software and hardware developed on different computer systems by the university participants. The University of Texas is constructing and assembling the actuator module. Several parts have been re-machined. The Tennessee group has performed a series of experiments to verify the performance of their system for object localization, identification, and manipulation using 3D Geometric models (SOLIDGEM). The Michigan group has completed experiments on the radiation resistance of ultrasonic range sensors (URSs). The Florida team continues to model key features of the ALMR. Drawings have been received from GE providing much greater detail on many structures. These details are being incorporated into the IGRIP model of the ALMR. A conceptual design for the Articulated Transporter/Manipulator System (ATMS) has been finalized.
- Research Organization:
- Florida Univ., Gainesville, FL (United States). Dept. of Nuclear Engineering Sciences; Oak Ridge National Lab., TN (United States); Texas Univ., Austin, TX (United States); Tennessee Univ., Knoxville, TN (United States). Dept. of Electrical Engineering; Michigan Univ., Ann Arbor, MI (United States). Dept. of Nuclear Engineering
- Sponsoring Organization:
- USDOE; USDOE, Washington, DC (United States)
- DOE Contract Number:
- FG02-86NE37967; AC05-84OR21400; FG02-86NE37966; FG02-86NE37968; FG02-86NE37969
- OSTI ID:
- 5613118
- Report Number(s):
- DOE/NE/37967-T4; ON: DE91014299
- Country of Publication:
- United States
- Language:
- English
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