Model based, sensor directed remediation of underground storage tanks

Conference · Mon Jan 01 04:00:00 EST 1990

OSTI ID:6859134

Christensen, B; Drotning, W; Thunborg, S

Sensor rich, intelligent robots which function with respect to models of their environment have significant potential to reduce the time and cost for the cleanup of hazardous waste while increasing operator safety. Sandia National Laboratories is performing experimental investigations into the application of intelligent robot control technology to the problem of removing waste stored in tanks. This paper describes the experimental environment employed at Sandia with particular attention to the computing and software control environment. Intelligent system control is achieved through the integration of extensive geometric and kinematic world models with real-time sensor based control. All operator interactions with the system are through fully animated, graphical representations which validate all operator commands before execution to provide for safe operation. Sensing is used to add information to the robot system's world model and to allow sensor based servo control during selected operations. The results of a first Critical Features Test are reported and the potential for applying advanced intelligent control concepts to the removal of waste in storage tanks is discussed. 4 refs., 9 figs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 6859134
• Report Number(s): SAND-90-0352C; CONF-900608--18; ON: DE90011025
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
CONTROL SYSTEMS
DETECTION
MANAGEMENT
MATERIALS
RADIOACTIVE MATERIALS
RADIOACTIVE WASTE DISPOSAL
RADIOACTIVE WASTES
REMOTE HANDLING
ROBOTS
STORAGE
UNDERGROUND STORAGE
WASTE DISPOSAL
WASTE MANAGEMENT
WASTES