Research in mobile robotics at ORNL/CESAR (Oak Ridge National Laboratory/Center for Engineering Systems Advanced Research)

Conference · Sun Jan 01 04:00:00 EST 1989

OSTI ID:5828900

Mann, R C; Weisbin, C R; Pin, F G

This paper reviews ongoing and planned research with mobile autonomous robots at the Oak Ridge National Laboratory (ORNL), Center for Engineering Systems Advanced Research (CESAR). Specifically we report on results obtained with the robot HERMIES-IIB in navigation, intelligent sensing, learning, and on-board parallel computing in support of these functions. We briefly summarize an experiment with HERMIES-IIB that demonstrates the capability of smooth transitions between robot autonomy and tele-operation. This experiment results from collaboration among teams at the Universities of Florida, Michigan, Tennessee, and Texas; and ORNL in a program targeted at robotics for advanced nuclear power stations. We conclude by summarizing ongoing R D with our new mobile robot HERMIES-III which is equipped with a seven degree-of-freedom research manipulator arm. 12 refs., 4 figs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 5828900
• Report Number(s): CONF-890888-1; ON: DE89013052
• Country of Publication: United States
• Language: English

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22 GENERAL STUDIES OF NUCLEAR REACTORS
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42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990210 -- Supercomputers-- (1987-1989)
AUTOMATION
COMPUTER ARCHITECTURE
EQUIPMENT
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NATIONAL ORGANIZATIONS
NAVIGATION
NUCLEAR FACILITIES
NUCLEAR POWER PLANTS
ORNL
PARALLEL PROCESSING
POWER PLANTS
PROGRAMMING
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
ROBOTS
THERMAL POWER PLANTS
US AEC
US DOE
US ERDA
US ORGANIZATIONS