Mobile robots in research and development programs at the Savannah River site
Mobile robots for deployment in nuclear applications at the Savannah River Plant (SRP) have been developed. Teleoperated mobile vehicles have been successfully used for several onsite applications. Development work using two research vehicles is underway to demonstrate semi-autonomous intelligent expert robot system operation in process areas. A description of the mechanical equipment, control systems, and operating modes of these vehicles is presented, including the integration of onboard sensors. A control hierarchy that uses modest computational methods is being developed at SRL to allow vehicles to autonomously navigate and perform tasks in known environments, without the need for large computer systems. Knowledge-based expert systems are being evaluated to simplify operator control, to assist in navigation functions, and to analyze sensory information.
- Research Organization:
- Du Pont de Nemours (E.I.) and Co., Aiken, SC (USA). Savannah River Lab.
- DOE Contract Number:
- AC09-76SR00001
- OSTI ID:
- 6806561
- Report Number(s):
- DP-MS-86-184; CONF-870301-8; ON: DE87003114
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
420203* -- Engineering-- Handling Equipment & Procedures
ALGORITHMS
ARTIFICIAL INTELLIGENCE
COMPUTERIZED CONTROL SYSTEMS
COMPUTERS
CONTROL SYSTEMS
DATA ACQUISITION SYSTEMS
DEGREES OF FREEDOM
EQUIPMENT
IBM COMPUTERS
INTERFACES
KNOWLEDGE BASE
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
REMOTE HANDLING EQUIPMENT
ROBOTS
USES