An intelligent inspection and survey robot. Volume 1

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Description

ARIES {number_sign}1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new ... continued below

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174 p.

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Creator: Unknown. December 15, 1995.

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Description

ARIES {number_sign}1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new Model K3A consists of an improved and enhanced mobile platform and a new turret that will permit turning around in a three-foot aisle. Advanced sonar and lidar systems were added to improve navigation in the narrow drum aisles. Onboard computer enhancements include a VMEbus computer system running the VxWorks real-time operating system. A graphical offboard supervisory UNIX workstation is used for high-level planning, control, monitoring, and reporting. A camera positioning system (CPS) includes primitive instructions for the robot to use in referencing and positioning the payload. The CPS retracts to a more compact position when traveling in the open warehouse. During inspection, the CPS extends up to deploy inspection packages at different heights on the four-drum stacks of 55-, 85-, and 110-gallon drums. The vision inspection module performs a visual inspection of the waste drums. This system will locate and identify each drum, locate any unique visual features, characterize relevant surface features of interest and update a data-base containing the inspection data.

Physical Description

174 p.

Notes

INIS; OSTI as DE97002291

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  • Other Information: PBD: 15 Dec 1995

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  • Other: DE97002291
  • Report No.: DOE/MC/29115--5658-Vol.1
  • Grant Number: AC21-92MC29115
  • DOI: 10.2172/491579 | External Link
  • Office of Scientific & Technical Information Report Number: 491579
  • Archival Resource Key: ark:/67531/metadc678335

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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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Creation Date

  • December 15, 1995

Added to The UNT Digital Library

  • July 25, 2015, 2:21 a.m.

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  • June 14, 2016, 3:39 p.m.

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An intelligent inspection and survey robot. Volume 1, report, December 15, 1995; United States. (digital.library.unt.edu/ark:/67531/metadc678335/: accessed December 17, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.