Design and Sensor-Based Control for Hyper-Redundant Mechanisms

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Toxic materials in DOE sites pose a significant threat to DOE personnel who must inspect these locations. Working in confined spaces further complicates the situation especially when the workers must wear heavy and cumbersome protective suits. A robot or conventional mechanism can clearly bypass the danger and perhaps expedite the characterization process because the person is removed from the site and neither the site nor the person require preparation. However, conventional robots are not suitable for these inspection tasks because they are not flexible enough to pass through and into target DOE inspection sites. This effort is developing an articulated ... continued below

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Choset, Howie June 1, 2002.

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This report is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this report can be viewed below.

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Description

Toxic materials in DOE sites pose a significant threat to DOE personnel who must inspect these locations. Working in confined spaces further complicates the situation especially when the workers must wear heavy and cumbersome protective suits. A robot or conventional mechanism can clearly bypass the danger and perhaps expedite the characterization process because the person is removed from the site and neither the site nor the person require preparation. However, conventional robots are not suitable for these inspection tasks because they are not flexible enough to pass through and into target DOE inspection sites. This effort is developing an articulated probe, called a hyper redundant mechanism, which is a snake-like device that can exploit its many internal degrees of freedom to thread through tightly packed volumes transmitting images and data from remote locations inaccessible to conventional robots and people. This effort contains two parts: mechanism development and control of the device.

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  • Other Information: PBD: 1 Jun 2002

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  • Report No.: EMSP-82873-2002
  • Grant Number: FG07-01ER63265
  • DOI: 10.2172/835406 | External Link
  • Office of Scientific & Technical Information Report Number: 835406
  • Archival Resource Key: ark:/67531/metadc779816

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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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  • June 1, 2002

Added to The UNT Digital Library

  • Dec. 3, 2015, 9:30 a.m.

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  • April 21, 2016, 1:01 p.m.

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Choset, Howie. Design and Sensor-Based Control for Hyper-Redundant Mechanisms, report, June 1, 2002; United States. (digital.library.unt.edu/ark:/67531/metadc779816/: accessed December 17, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.