A robotic inspection experimental system (ARIES) and BOA Page: 7 of 192

software, Site Manager. This however, does not
provide an easy way to either view the default
settings or modify them. During the human
factors assessment, it was indicated that there
has not been any analysis, design, testing, or
other architecture diagrams and documentation
conducted for the internals of the Site Manager
Human Factors Interface
From the perspective of software usage and the
human interface with the operation of ARIES,
three levels of users have been identified and
suggested by the current human factors
assessment. The three suggested levels are (1)
the expert who knows the details of the
operation of the robot, its programming, and the
internal hardware; (2) the programmer who
programs the aisle paths, location of the
fiduciaries, etc.; and (3) the operator who starts
the robot operation for each mission. An
additional area of concern with the system
software and human factors interface issues
involves the analysis, design, testing, and
architecture diagrams and documentation.
These have not been developed and there is
concern that this could lead to human error
which may result in a safety/hazard situation.
ARIES is capable of being manually controlled
should the need arise. A manual control
pendant can be attached to the base of the
robot that is then controlled by a "joy-stick" type
control lever. An issue of importance for manual
operation is that the sonar capabilities for
sensing obstructions are disabled. The operator
manually moving ARIES needs to be aware of
this and take proper precautions to avoid
Several maintenance tasks were conducted
during the human factors assessment. Several
of the tasks were impossible for the operator to
perform while wearing chemical protective

gloves due to the added bulk, the loss of
dexterity, and the loss-of tactile sensation.
ARIES mission involves navigating through
narrow aisles (typically 36 inches) to inspect
drums stacked three high. This does not allow
much room for collision avoidance maneuvers.
Collision with an object has the potential to stall
or tip the robot or the robot may run over the
object. This in and of itself, the robot striking a
drum, or the object striking a drum has the
potential to cause a release and therefore, a
spill and/or exposure to contaminants.
Additionally, injury may be caused by workers
being struck by falling objects.
Safety and health personnel where ARIES is
being used need to be concerned with safety
and health regulations applicable to the issues
discussed above. Regulations that will apply
may include but not be limited to the following
areas: housekeeping, machine guarding,
lockout/tagout, toxic and hazardous substances,
electrical, non-ionizing radiation, materials
handling, PPE, HAZCOM, and HAZWOPER.
Recommendations for improved worker safety
and health include good housekeeping,
developing lockout/tagout procedures, laser
safety training, appropriate PPE, training in the
hazards associated with lead acid batteries,
calculating the center of gravity for the robot,
engineering controls for tip angle cut off,
ergonomics training and awareness, and always
using mechanical materials handling devices to
lift and carry the mast.

Research supported by the U.S. Department of Energy's Federal Energy Technology Center, under
cooperative agreement DE-FC21-95MC32260 with the Operating Engineers National HAZMAT Program,
250 Airport Circle, Beaver, WV 25813, phone 304-252-8674, fax 304-253-7758. This report was prepared
with the support of the US DOE; however, any opinions, findings, conclusions, or recommendations
expressed herein are those of the author(s) and do not necessarily reflect the views of the DOE.

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A robotic inspection experimental system (ARIES) and BOA, report, February 1, 1998; United States. (https://digital.library.unt.edu/ark:/67531/metadc711600/m1/7/ocr/: accessed April 20, 2019), University of North Texas Libraries, Digital Library, https://digital.library.unt.edu; crediting UNT Libraries Government Documents Department.

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