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Title: Proximity sensor system development. CRADA final report

Abstract

Lockheed Martin Energy Research Corporation (LMERC) and Merritt Systems, Inc. (MSI) entered into a Cooperative Research and Development Agreement (CRADA) for the development and demonstration of a compact, modular proximity sensing system suitable for application to a wide class of manipulator systems operated in support of environmental restoration and waste management activities. In teleoperated modes, proximity sensing provides the manipulator operator continuous information regarding the proximity of the manipulator to objects in the workspace. In teleoperated and robotic modes, proximity sensing provides added safety through the implementation of active whole arm collision avoidance capabilities. Oak Ridge National Laboratory (ORNL), managed by LMERC for the United States Department of Energy (DOE), has developed an application specific integrated circuit (ASIC) design for the electronics required to support a modular whole arm proximity sensing system based on the use of capacitive sensors developed at Sandia National Laboratories. The use of ASIC technology greatly reduces the size of the electronics required to support the selected sensor types allowing deployment of many small sensor nodes over a large area of the manipulator surface to provide maximum sensor coverage. The ASIC design also provides a communication interface to support sensor commands from and sensor data transmissionmore » to a distributed processing system which allows modular implementation and operation of the sensor system. MSI is a commercial small business specializing in proximity sensing systems based upon infrared and acoustic sensors.« less

Authors:
 [1];  [2]
  1. Oak Ridge National Lab., TN (United States)
  2. Merrit Systems, Inc. (United States)
Publication Date:
Research Org.:
Oak Ridge National Lab., TN (United States)
Sponsoring Org.:
USDOE Office of Energy Research, Washington, DC (United States)
OSTI Identifier:
663257
Report Number(s):
ORNL/M-6358
ON: DE98051590; CRN: C/ORNL--94-0263; TRN: 99:000011
DOE Contract Number:  
AC05-96OR22464
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: [1998]
Country of Publication:
United States
Language:
English
Subject:
44 INSTRUMENTATION, INCLUDING NUCLEAR AND PARTICLE DETECTORS; 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; PROGRESS REPORT; MANIPULATORS; REMEDIAL ACTION; WASTE MANAGEMENT; DISPLACEMENT GAGES; COORDINATES; INTEGRATED CIRCUITS; SIZE; DATA TRANSMISSION

Citation Formats

Haley, D.C., and Pigoski, T.M. Proximity sensor system development. CRADA final report. United States: N. p., 1998. Web. doi:10.2172/663257.
Haley, D.C., & Pigoski, T.M. Proximity sensor system development. CRADA final report. United States. doi:10.2172/663257.
Haley, D.C., and Pigoski, T.M. Thu . "Proximity sensor system development. CRADA final report". United States. doi:10.2172/663257. https://www.osti.gov/servlets/purl/663257.
@article{osti_663257,
title = {Proximity sensor system development. CRADA final report},
author = {Haley, D.C. and Pigoski, T.M.},
abstractNote = {Lockheed Martin Energy Research Corporation (LMERC) and Merritt Systems, Inc. (MSI) entered into a Cooperative Research and Development Agreement (CRADA) for the development and demonstration of a compact, modular proximity sensing system suitable for application to a wide class of manipulator systems operated in support of environmental restoration and waste management activities. In teleoperated modes, proximity sensing provides the manipulator operator continuous information regarding the proximity of the manipulator to objects in the workspace. In teleoperated and robotic modes, proximity sensing provides added safety through the implementation of active whole arm collision avoidance capabilities. Oak Ridge National Laboratory (ORNL), managed by LMERC for the United States Department of Energy (DOE), has developed an application specific integrated circuit (ASIC) design for the electronics required to support a modular whole arm proximity sensing system based on the use of capacitive sensors developed at Sandia National Laboratories. The use of ASIC technology greatly reduces the size of the electronics required to support the selected sensor types allowing deployment of many small sensor nodes over a large area of the manipulator surface to provide maximum sensor coverage. The ASIC design also provides a communication interface to support sensor commands from and sensor data transmission to a distributed processing system which allows modular implementation and operation of the sensor system. MSI is a commercial small business specializing in proximity sensing systems based upon infrared and acoustic sensors.},
doi = {10.2172/663257},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1998},
month = {1}
}