Long range position and orientation tracking system

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Description

The long range position and orientation tracking system (LRPOTS) will consist of two measurement pods, a VME-based computer system, and a detector array. The system is used to measure the position and orientation of a target that may be attached to a robotic arm, teleoperated manipulator, or autonomous vehicle. The pods have been designed to be mounted in the man-ways of the domes of the Fernald K-65 waste silos. Each pod has two laser scanner subsystems as well as lights and camera systems. One of the laser scanners will be oriented to scan in the pan direction, the other in ... continued below

Physical Description

6 p.

Creation Information

Armstrong, G.A.; Jansen, J.F.; Burks, B.L.; Bernacki, B.E. & Nypaver, D.J. December 31, 1995.

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Description

The long range position and orientation tracking system (LRPOTS) will consist of two measurement pods, a VME-based computer system, and a detector array. The system is used to measure the position and orientation of a target that may be attached to a robotic arm, teleoperated manipulator, or autonomous vehicle. The pods have been designed to be mounted in the man-ways of the domes of the Fernald K-65 waste silos. Each pod has two laser scanner subsystems as well as lights and camera systems. One of the laser scanners will be oriented to scan in the pan direction, the other in the tilt direction. As the lasers scan across the detector array, the angles of incidence with each detector are recorded. Combining measurements from each of the four lasers yields sufficient data for a closed-form solution of the transform describing the location and orientation of the Content Mobilization System (CMS). Redundant detectors will be placed on the CMS to accommodate occlusions, to provide improved measurement accuracy, and to determine the CMS orientation.

Physical Description

6 p.

Notes

INIS; OSTI as DE96005542

Source

  • Winter meeting of the American Nuclear Society (ANS), San Francisco, CA (United States), 29 Oct - 1 Nov 1995

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  • Other: DE96005542
  • Report No.: CONF-951006--32
  • Grant Number: AC05-84OR21400
  • Office of Scientific & Technical Information Report Number: 195651
  • Archival Resource Key: ark:/67531/metadc669690

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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 31, 1995

Added to The UNT Digital Library

  • June 29, 2015, 9:42 p.m.

Description Last Updated

  • Jan. 19, 2016, 7:38 p.m.

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Armstrong, G.A.; Jansen, J.F.; Burks, B.L.; Bernacki, B.E. & Nypaver, D.J. Long range position and orientation tracking system, article, December 31, 1995; Tennessee. (digital.library.unt.edu/ark:/67531/metadc669690/: accessed October 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.