Sensor-based automated docking of large waste canisters
- Sandia National Lab., Albuquerque, NM (USA)
Sensor-based programmable robots have the potential to speed up remote manipulation operations while protecting operators from exposure to radiation. Conventional master/slave manipulators have proven to be very slow in performing precision remote operations. In addition, inadvertent collisions of remotely manipulated objects with their environment increase the hazards associated with remote handling. This paper describes the development of a robotic system for the sensor-based automated remote manipulation and precision docking of large payloads. Computer vision and proximity sensing are used to control the precision docking of a large object with a passive target cavity. Specifically, a container of nuclear spent fuel on a transport vehicle is mated with an emplacement door on a vertical storage borehole at a waste repository.
- OSTI ID:
- 6378244
- Report Number(s):
- CONF-900608--
- Journal Information:
- Transactions of the American Nuclear Society; (USA), Journal Name: Transactions of the American Nuclear Society; (USA) Vol. 61; ISSN TANSA; ISSN 0003-018X
- Country of Publication:
- United States
- Language:
- English
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Automated waste canister docking and emplacement using a sensor-based intelligent controller; Yucca Mountain Site Characterization Project
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11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ALIGNMENT
COMMUNICATIONS
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DATA TRANSMISSION
DEGREES OF FREEDOM
EFFICIENCY
EQUIPMENT
ERRORS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
OCCUPATIONAL EXPOSURE
OPERATION
PERFORMANCE
PROGRAMMING
RADIATION PROTECTION
REAL TIME SYSTEMS
REMOTE HANDLING EQUIPMENT
REMOTE SENSING
SAFETY
TRANSPORT