An approach to software quality assurance for robotic inspection systems

Conference · Fri Jan 01 00:00:00 EST 1993 · Transactions of the American Nuclear Society; (United States)

OSTI ID:6846253

Kiebel, G R ^[1]

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1. Westinghouse Hanford Co., Pittsburgh, PA (United States)

Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that these systems operate safely and reliably and pose a minimum risk to the environment. This paper describes the approach to be taken for SQA for the control and data acquisition system for a robotic system that is being developed for remote surveillance and inspection of underground storage tanks (USTS) at the Hanford site under the sponsorship of the UST-Integrated Demonstration Program of the U.S. Department of Energy's (DOE's) Office of Technology Development (OTD). The robotic system is called the Light-Duty Utility Arm (LDUA) System. It has a multiaxis arm with a 2.74-M (9-ft) reach and 22.7-kg (50-1b) payload that is mounted on the end of a 13.7-m (45-ft) positioning mast. It is designed to enter a UST through an available 30.5-cm (12-in.) riser. A deployment vehicle carries the positioning equipment to insert the mast and arm into the riser and a containment enclosure to control contamination when the arm is in the tank or being transported from tank to tank. A set of interchangeable end effectors is carried on the end of the arm. These end effectors provide a wide range of observation and measurement functions, such as photographic and video inspection and recording, detailed surface mapping of the tank and surface of the waste, in situ chemical analysis of the waste, etc.

• OSTI ID: 6846253
• Report Number(s): CONF-931160-; CODEN: TANSAO
• Journal Information: Transactions of the American Nuclear Society; (United States), Vol. 69; Conference: American Nuclear Society (ANS) winter meeting, San Francisco, CA (United States), 14-18 Nov 1993; ISSN 0003-018X
• Country of Publication: United States
• Language: English

Related Subjects

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
HANFORD RESERVATION
RADIOACTIVE WASTE MANAGEMENT
ROBOTS
QUALITY ASSURANCE
TANKS
INSPECTION
COMPUTER CODES
RADIOACTIVE WASTES
UNDERGROUND STORAGE
CONTAINERS
MANAGEMENT
MATERIALS
NATIONAL ORGANIZATIONS
RADIOACTIVE MATERIALS
STORAGE
US DOE
US ERDA
US ORGANIZATIONS
WASTE MANAGEMENT
WASTES
052002* - Nuclear Fuels- Waste Disposal & Storage
990200 - Mathematics & Computers