Intelligent Mobile Sensor System for drum inspection and monitoring -- Volume 2. Final report, October 1, 1993--April 22, 1995
The objective of the Intelligent Mobile Sensor System (IMSS) project was to develop an operational system for monitoring and inspection activities for waste storage facility operations at several DOE sites. Specifically, the product of this effort was a robotic device with enhanced intelligence and maneuverability capable of conducting routine inspection of stored waste drums. The system has an integrated sensor suite for problem-drum detection, and creates and maintains a site database both for inspection planning and for data correlation, updating, and report generation. The system is capable of departing on an assigned mission, collecting required data, recording which portions of its mission had to be aborted or modified due to environmental constraints, and reporting back when the mission is complete. Successful identification of more than 96% of drum defects has been demonstrated in a high fidelity waste storage facility mockup. Identified anomalies included rust spots, rust streaks, areas of corrosion, dents, and tilted drums. All drums were positively identified and correlated with the site database. This development effort was separated into three phases of which phase three is now complete. The first phase demonstrated an integrated system (maturity level IVa) for monitoring and inspection activities for waste storage facility operations. The second phase demonstrated a prototype system appropriate for operational use in an actual storage facility. The prototype employed an integrated design that considered operational requirements, hardware costs, maintenance, safety, and robustness. The final phase has demonstrated the commercial viability of the vehicle in operating waste storage facilities at Fernald, Ohio and the Idaho National Engineering Laboratory (INEL). This report summarizes the system upgrades performed in phase 3 and the evaluation of the IMSS Phase 3 system and vehicle.
- Research Organization:
- Lockheed Martin Astronautics, Littleton, CO (United States)
- Sponsoring Organization:
- USDOE Assistant Secretary for Fossil Energy, Washington, DC (United States)
- DOE Contract Number:
- AC21-92MC29112
- OSTI ID:
- 638233
- Report Number(s):
- DOE/MC/29112-99-Vol.2; ON: DE98054409; TRN: 98:007809
- Resource Relation:
- Other Information: PBD: [1995]
- Country of Publication:
- United States
- Language:
- English
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