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in creator/contributor: "Babcock, S.M."  
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Workshop on instrumentation and analyses for a nuclear fuel reprocessing hot pilot plant

Description: In order to assist in the study of instrumentation and analytical needs for reprocessing plants, a workshop addressing these needs was held at Oak Ridge National Laboratory from May 5 to 7, 1980. The purpose of the workshop was to incorporate the knowledge of chemistry and of advanced measurement techniques held by the nuclear and radiochemical community into ideas for improved and new plant designs for both process control and inventory and safeguards measurements. The workshop was athended by… more
Date: May 1, 1980
Creator: Babcock, S. M.; Feldman, M. J.; Wymer, R. G. & Hoffman, D.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Electromechanical three-axis development for remote handling in the Hot Experimental Facility

Description: A three-axis closed-loop position control system has been designed and installed on an overhead bridge, carriage, tube hoist for automotive positioning of manipulation at a remotely maintained work site. The system provides accurate (within 3 min) and repeatable three-axis positioning of the manipulator. The position control system has been interfaced to a supervisory minicomputer system that provides teach-playback capability of manipulator positioning and color graphic display of the three-ax… more
Date: January 1, 1981
Creator: Garin, J.; Bolfing, B. J.; Satterlee, P. E. & Babcock, S. M.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Telerobotic operation of structurally flexible, long-reach manipulators

Description: As a part of the Department of Energy`s Environmental Restoration and Waste Management Program, long-reach manipulators are being considered for the retrieval of waste from large storage tanks. Long-reach manipulators may have characteristics significantly different from those of typical industrial robots because of the flexibility of long links needed to cover the large workspace. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters wer… more
Date: September 1, 1994
Creator: Kwon, D. S.; Hwang, D. H. & Babcock, S. M.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Input shaping methods for telerobotic operation of flexible, long-reach manipulators

Description: Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator`s high payload capacity and high length-to-cross-section ratios, such manipulator system exhibit… more
Date: September 1, 1994
Creator: Kwon, Dong-Soo; Hwang, Dong-Hwan & Babcock, S. M.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Controller design for a teleoperator system with dissimilar kinematics and force feedback

Description: The purpose of this paper is to develop a controller for dissimilar kinematic teleoperator systems, which include a force/torque sensor mounted on the slave. Due to improved modern microprocessor computing capability and the trend toward redundant slaves, the next generation of teleoperator systems will likely incorporate dissimilar kinematics in their design; consequently, a need exists for a workable control scheme for these systems. The control scheme presented in this paper incorporates the… more
Date: January 1, 1990
Creator: Jansen, J. F.; Kress, R. L.; Babcock, S. M. & Hamel, W. R.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Field Artillery Ammunition Processing System (FAAPS) concept evaluation study. Ammunition Logistics Program

Description: The Field Artillery Ammunition Processing System (FAAPS) is an initiative to introduce a palletized load system (PLS) that is transportable with an automated ammunition processing and storage system for use on the battlefield. System proponents have targeted a 20% increase in the ammunition processing rate over the current operation while simultaneously reducing the total number of assigned field artillery battalion personnel by 30. The overall objective of the FAAPS Project is the development … more
Date: June 1, 1992
Creator: Kring, C. T.; Babcock, S. M.; Watkin, D. C. & Oliver, R. P.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Key design requirements for long-reach manipulators

Description: Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional kinematic, and performance requ… more
Date: September 1, 1993
Creator: Kwon, D. S.; March-Leuba, S.; Babcock, S. M. & Hamel, W. R.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Field Artillery Ammunition Processing System (FAAPS) concept evaluation study

Description: The Field Artillery Ammunition Processing System (FAAPS) is an initiative to introduce a palletized load system (PLS) that is transportable with an automated ammunition processing and storage system for use on the battlefield. System proponents have targeted a 20% increase in the ammunition processing rate over the current operation while simultaneously reducing the total number of assigned field artillery battalion personnel by 30. The overall objective of the FAAPS Project is the development … more
Date: June 1, 1992
Creator: Kring, C. T.; Babcock, S. M.; Watkin, D. C. & Oliver, R. P.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Tracking control of the hydraulically actuated flexible manipulator

Description: The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has bee… more
Date: March 1, 1995
Creator: Kwon, D. S.; Babcock, S. M.; Burks, B. L. & Kress, R. L.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Implications of access hole size on tank waste retrieval system design and cost

Description: The DOE Environmental Restoration and Waste Management Robotics Technology Development Program has been investigating the application of robotics technology to the retrieval of waste from single-shell storage tanks for several years. The use of a large, ``long-reach`` manipulator to position and orient a variety of tools and other equipment has been recommended. The objective of this study is to determine the appropriate access hole size for the tank waste retrieval system installation. Previou… more
Date: May 1, 1994
Creator: Babcock, S. M.; Kwon, D. S.; Burks, B. L.; Stoughton, R. S. & Evans, M. S.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Parametric design studies of long-reach manipulators

Description: A number of different approaches have been studied for remediation of waste storage tanks at various sites. One of the most promising approaches is the use of a high-capacity, long-reach manipulation (LRM) system with a variety of end effectors for dislodging the waste. LRMs may have characteristics significantly different from those of industrial robots due to the long links needed to cover the large workspace. Because link lengths are much greater than their diameters, link flexibility, as we… more
Date: November 1, 1993
Creator: Kwon, D. S.; March-Leuba, S.; Babcock, S. M.; Burks, B. L. & Hamel, W. R.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot. Ammunition Logistics Program

Description: A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the cl… more
Date: August 1, 1992
Creator: March-Leuba, S.; Jansen, J. F.; Kress, R. L.; Babcock, S. M. & Dubey, R. V.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Simulation of robot manipulators

Description: This paper describes Oak Ridge National Laboratory`s development of an environment for the simulation of robotic manipulators. Simulation includes the modeling of kinematics, dynamics, sensors, actuators, control systems, operators, and environments. Models will be used for manipulator design, proposal evaluation, control system design and analysis, graphical preview of proposed motions, safety system development, and training. Of particular interest is the development of models for robotic man… more
Date: March 1, 1995
Creator: Kress, R. L.; Babcock, S. M.; Bills, K. C.; Kwon, D. S. & Schoenwald, D. A.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Whole-arm obstacle avoidance system conceptual design

Description: Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in… more
Date: April 1, 1993
Creator: Wintenberg, A. L.; Butler, P. L.; Babcock, S. M.; Ericson, M. N. & Britton, C. L., Jr.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Whole-arm obstacle avoidance system conceptual design

Description: Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER&WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER&WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in… more
Date: April 1, 1993
Creator: Wintenberg, A. L.; Butler, P. L.; Babcock, S. M.; Ericson, M. N. & Britton, C. L., Jr.
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
open access

Design and experimental evaluation of flexible manipulator control algorithms

Description: Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit sign… more
Date: April 1, 1995
Creator: Kwon, D. S.; Hwang, D. H.; Babcock, S. M.; Kress, R. L.; Lew, J. Y. & Evans, M. S.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Input shaping filter methods for the control of structurally flexible, long-reach manipulators

Description: Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. Concepts that utilize long-reach manipulators are being seriously considered for this task. Due to high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to exhibit significant structural flex… more
Date: November 1, 1993
Creator: Kwon, Dong-Soo; Hwang, Dong-Hwan; Babcock, S. M. & Burks, B. L.
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Volumetric reach comparison of possible end-effectors for the articulated transporter and manipulator system

Description: The goal of this research was to investigate the performance of the Articulated Transporter and Manipulator System (ATMS) during various tasks relative to the choice of wrist/end-effector configuration. The approach taken was to generate computer graphics-aided three-dimensional interactive application (CATIA) system-based models of four wrist/end-effector combinations and consider the volumetric reach of each of these configurations based on the capacity of the ATMS. The results indicate that … more
Date: January 1, 1990
Creator: Kress, R. L.; Babcock, S. M.; Hamel, W. R. (Oak Ridge National Lab., TN (USA)) & Bills, K. C. (Martin Marietta Energy Systems, Inc., Oak Ridge, TN (USA))
Item Type: Refine your search to only Article
Partner: UNT Libraries Government Documents Department
open access

Development of the Symbolic Manipulator Laboratory modeling package for the kinematic design and optimization of the Future Armor Rearm System robot

Description: A new program package, Symbolic Manipulator Laboratory (SML), for the automatic generation of both kinematic and static manipulator models in symbolic form is presented. Critical design parameters may be identified and optimized using symbolic models as shown in the sample application presented for the Future Armor Rearm System (FARS) arm. The computer-aided development of the symbolic models yields equations with reduced numerical complexity. Important considerations have been placed on the cl… more
Date: August 1, 1992
Creator: March-Leuba, S.; Jansen, J. F.; Kress, R. L.; Babcock, S. M. (Oak Ridge National Lab., TN (United States)) & Dubey, R. V. (Tennessee Univ., Knoxville, TN (United States). Dept. of Mechanical and Aerospace Engineering)
Item Type: Refine your search to only Report
Partner: UNT Libraries Government Documents Department
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