A robotic inspection experimental system (ARIES) and BOA

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Description

ARIES consists of a 6-wheeled K3A mobile platform, a compact subturret, a sonar imaging system, a laser-based light detection and ranging (lidar) navigation beacon system, and a camera positioning system. It has a sonar imaging system used in navigation and collision avoidance and an automatic docking/charging system. Drum-referencing algorithms and camera-positioning algorithms have been included in the primitive instruction set for the robot. The robot`s navigation is based on Synchro-Drive, a patented design that utilizes concentric shafts to distribute drive and steering power to the six wheels simultaneously. ARIES uses a virtual path concept in which only a limited amount ... continued below

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[250] p.

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Creator: Unknown. February 1, 1998.

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Description

ARIES consists of a 6-wheeled K3A mobile platform, a compact subturret, a sonar imaging system, a laser-based light detection and ranging (lidar) navigation beacon system, and a camera positioning system. It has a sonar imaging system used in navigation and collision avoidance and an automatic docking/charging system. Drum-referencing algorithms and camera-positioning algorithms have been included in the primitive instruction set for the robot. The robot`s navigation is based on Synchro-Drive, a patented design that utilizes concentric shafts to distribute drive and steering power to the six wheels simultaneously. ARIES uses a virtual path concept in which only a limited amount of information needs to be provided to the control computer in order to get the vehicle moving. The safety and health evaluation, during the human factors assessment, found several areas of concern including ergonomics, laser hazards, tripping hazards, fall-from-above and struck-by hazards, electrical hazards, and decontamination of the system. BOA is a self-propelled automated mini-enclosure, able to remove insulation from installed pipes, primarily of 4 inch nominal outside diameter. The system is designed for two operators: one oversees the abatement head operation from a distance of 10 or 15 feet using a pendant control and the other bags the debris at a cyclonic bagging station that is attached by a vacuum hose to the cutting head. Since the abatement head is its own enclosure, there may be no need for further enclosures to be built. The system wets and removes asbestos insulation automatically, cutting the debris into consistent chunks and moving the wave under a strong vacuum to a bagging machine. Prior to reaching the bagging operation, the material passes through a water separator which greatly reduces the weight of the debris and allows recirculation of water, after sufficient filtration. The safety and health evaluation, during the human factors assessment, focused on: noise, dust concentrations, ergonomics, and computer software. Industrial hygiene sampling indicated that worker exposures may be kept low enough during normal operation of BOA to eliminate the need for respiratory or heating protection while working around the cutting head and bagging operation. Airborne particulate measurements showed a slight rise over background levels during the operation of BOA, but the average of all the readings during operation was 1.6% of the OSHA respirable dust standard. Air sampling and noise monitoring showed dust to be negligible. Noise was shown to be a potential exposure hazard depending on worker location.

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[250] p.

Notes

OSTI as DE98058273

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  • Other Information: PBD: Feb 1998

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  • Other: DE98058273
  • Report No.: DOE/MC/32260--4
  • Grant Number: FC21-95MC32260
  • DOI: 10.2172/666042 | External Link
  • Office of Scientific & Technical Information Report Number: 666042
  • Archival Resource Key: ark:/67531/metadc711600

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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

  • February 1, 1998

Added to The UNT Digital Library

  • Sept. 12, 2015, 6:31 a.m.

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  • June 14, 2016, 4:09 p.m.

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A robotic inspection experimental system (ARIES) and BOA, report, February 1, 1998; United States. (digital.library.unt.edu/ark:/67531/metadc711600/: accessed December 13, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.