Advanced teleoperation in nuclear applications
A new generation of integrated remote maintenance systems is being developed to meet the needs of future nuclear fuel reprocessing at the Oak Ridge National Laboratory. Development activities cover all aspects of an advanced teleoperated maintenance system with particular emphasis on a new force-reflecting servomanipulator concept. The new manipulator, called the advanced servomanipulator, is microprocessor controlled and is designed to achieve force-reflection performance near that of mechanical master/slave manipulators. The advanced servomanipulator uses a gear-drive transmission which permits modularization for remote maintainability (by other advanced servomanipulators) and increases reliability. Human factors analysis has been used to develop an improved man/machine interface concept based upon colorgraphic displays and menu-driven tough screens. Initial test and evaluation of two advanced servomanipulator slave arms and several other development components have begun. 9 references, 5 figures.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6633008
- Report Number(s):
- CONF-840831-3; ON: DE84016602
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
420203 -- Engineering-- Handling Equipment & Procedures
CONSOLIDATED FUEL REPROCESSING PROGRAM
CONTROL
CONTROL EQUIPMENT
COORDINATED RESEARCH PROGRAMS
ENERGY SOURCES
EQUIPMENT
FUELS
LABORATORY EQUIPMENT
MAINTENANCE
MANIPULATORS
MATERIALS
MATERIALS HANDLING EQUIPMENT
NUCLEAR FUELS
REACTOR MATERIALS
REMOTE CONTROL
REMOTE HANDLING EQUIPMENT
REPROCESSING
RESEARCH PROGRAMS
SEPARATION PROCESSES
SERVOMECHANISMS
SPENT FUELS
TELEVISION