Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning of Hazardous Sites - Final Report

Technical Report · Fri Dec 01 00:00:00 EST 2000

DOI:https://doi.org/10.2172/775369· OSTI ID:775369

Schalkoff, R J

This report summarizes work after 4 years of a 3-year project (no-cost extension of the above-referenced project for a period of 12 months granted). The fourth generation of a vision sensing head for geometric and photometric scene sensing has been built and tested. Estimation algorithms for automatic sensor calibration updating under robot motion have been developed and tested. We have modified the geometry extraction component of the rendering pipeline. Laser scanning now produces highly accurate points on segmented curves. These point-curves are input to a NURBS (non-uniform rational B-spline) skinning procedure to produce interpolating surface segments. The NURBS formulation includes quadrics as a sub-class, thus this formulation allows much greater flexibility without the attendant instability of generating an entire quadric surface. We have also implemented correction for diffuse lighting and specular effects. The QRobot joint level control was extended to a complete semi-autonomous robot control system for D and D operations. The imaging and VR subsystems have been integrated and tested.

• Research Organization: Clemson Univ., SC (US)
• Sponsoring Organization: USDOE Office of Environmental Management (EM) (US)
• DOE Contract Number: FG07-96ER14728
• OSTI ID: 775369
• Report Number(s): DOE/ER/14728; Project Number 55052; Project Number 55052; TRN: US0106128
• Resource Relation: Other Information: PBD: 1 Dec 2000
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
ALGORITHMS
CALIBRATION
CONTROL SYSTEMS
DECOMMISSIONING
LASERS
ROBOTS
REMOTE SENSING
DECONTAMINATION
REMOTE VIEWING EQUIPMENT
SENSING AND CONTROL TECHNIQUES
SEMI-AUTONOMOUS DECOMMISSIONING
GEOMETRIC SCENE SENSING
PHOTOMETRIC SCENE SENSING
AUTOMATIC SENSOR CALIBRATION
TELEOPERATED ROBOTICS