Interactive computer-enhanced remote viewing system

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Description

Remediation activities such as decontamination and decommissioning (D&D) typically involve materials and activities hazardous to humans. Robots are an attractive way to conduct such remediation, but for efficiency they need a good three-dimensional (3-D) computer model of the task space where they are to function. This model can be created from engineering plans and architectural drawings and from empirical data gathered by various sensors at the site. The model is used to plan robotic tasks and verify that selected paths am clear of obstacles. This need for a task space model is most pronounced in the remediation of obsolete production ... continued below

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9 p.

Creation Information

Tourtellott, J.A. & Wagner, J.F. December 1, 1995.

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Description

Remediation activities such as decontamination and decommissioning (D&D) typically involve materials and activities hazardous to humans. Robots are an attractive way to conduct such remediation, but for efficiency they need a good three-dimensional (3-D) computer model of the task space where they are to function. This model can be created from engineering plans and architectural drawings and from empirical data gathered by various sensors at the site. The model is used to plan robotic tasks and verify that selected paths am clear of obstacles. This need for a task space model is most pronounced in the remediation of obsolete production facilities and underground storage tanks. Production facilities at many sites contain compact process machinery and systems that were used to produce weapons grade material. For many such systems, a complex maze of pipes (with potentially dangerous contents) must be removed, and this represents a significant D&D challenge. In an analogous way, the underground storage tanks at sites such as Hanford represent a challenge because of their limited entry and the tumbled profusion of in-tank hardware. In response to this need, the Interactive Computer-Enhanced Remote Viewing System (ICERVS) is being designed as a software system to: (1) Provide a reliable geometric description of a robotic task space, and (2) Enable robotic remediation to be conducted more effectively and more economically than with available techniques. A system such as ICERVS is needed because of the problems discussed below.

Physical Description

9 p.

Notes

INIS; OSTI as DE96003432

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  • Environmental technology development through industry partnership, Morgantown, WV (United States), 3-5 Oct 1995

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  • Other: DE96003432
  • Report No.: DOE/MC/29113--96/CO571
  • Report No.: CONF-9510108--27
  • Grant Number: AC21-92MC29113
  • Office of Scientific & Technical Information Report Number: 162148
  • Archival Resource Key: ark:/67531/metadc619245

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

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  • December 1, 1995

Added to The UNT Digital Library

  • June 16, 2015, 7:43 a.m.

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  • Nov. 20, 2015, 9:51 p.m.

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Tourtellott, J.A. & Wagner, J.F. Interactive computer-enhanced remote viewing system, article, December 1, 1995; United States. (digital.library.unt.edu/ark:/67531/metadc619245/: accessed May 21, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.