Diagnostics and data fusion of robotic sensors

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Description

Robotic systems for remediation of hazardous waste sites must be highly reliable to avoid equipment failures and subsequent possible exposure of personnel to hazardous environments. Safe, efficient cleanup operations also require accurate, complete knowledge of the task space. This paper presents progress made on a 18 month program to meet these needs. To enhance robot reliability, a conceptual design of a monitoring and diagnostic system is being developed to predict the onset of mechanical failure modes, provide maximum lead time to make operational changes or repairs, and minimize the occurrence of on-site breakdowns. To ensure safe operation, a comprehensive software ... continued below

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19 p.

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Dhar, M.; Bardsley, S; Cowper, L.; Hamm, R.; Jammu, V. & Wagner, J. December 31, 1996.

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Description

Robotic systems for remediation of hazardous waste sites must be highly reliable to avoid equipment failures and subsequent possible exposure of personnel to hazardous environments. Safe, efficient cleanup operations also require accurate, complete knowledge of the task space. This paper presents progress made on a 18 month program to meet these needs. To enhance robot reliability, a conceptual design of a monitoring and diagnostic system is being developed to predict the onset of mechanical failure modes, provide maximum lead time to make operational changes or repairs, and minimize the occurrence of on-site breakdowns. To ensure safe operation, a comprehensive software package is being developed that will fuse data from multiple surface mapping sensors and poses so as to reduce the error effects in individual data points and provide accurate 3-D maps of a work space.

Physical Description

19 p.

Notes

INIS; OSTI as DE97052259

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  • Conference on industry partnerships to deploy environmental technology, Morgantown, WV (United States), 22-24 Oct 1996

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  • Other: DE97052259
  • Report No.: DOE/MC/32093--97/C0819
  • Report No.: CONF-9610231--25
  • Grant Number: AR21-95MC32093
  • Office of Scientific & Technical Information Report Number: 491966
  • Archival Resource Key: ark:/67531/metadc686512

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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 31, 1996

Added to The UNT Digital Library

  • July 25, 2015, 2:21 a.m.

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  • June 13, 2016, 7:14 p.m.

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Dhar, M.; Bardsley, S; Cowper, L.; Hamm, R.; Jammu, V. & Wagner, J. Diagnostics and data fusion of robotic sensors, article, December 31, 1996; United States. (digital.library.unt.edu/ark:/67531/metadc686512/: accessed October 23, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.