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in creator/contributor: "Glassell, R. L."

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Robotic conveyance of artillery projectiles for remote ammunition resupply operations

The U.S. Army`s Project Manager, Advanced Field Artillery System/Future Armored Resupply Vehicle has given Oak Ridge National Laboratory the task of developing a robotic conveyance system which will provide automated artillery ammunition transfer. This technology is currently being developed and will be demonstrated in the summer of 1995. This paper describes the development of an ammunition transfer arm to date. The arm consists of three sections and 6 D.F. which will allow the Future Armored … more

Date: July 1, 1995

Creator: Ray, T. L. & Glassell, R. L.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

A distributed data acquisition software scheme for the Laboratory Telerobotic Manipulator

A custom software architecture was developed for use in the Laboratory Telerobotic Manipulator (LTM) to provide support for the distributed data acquisition electronics. This architecture was designed to provide a comprehensive development environment that proved to be useful for both hardware and software debugging. This paper describes the development environment and the operational characteristics of the real-time data acquisition software. 8 refs., 5 figs.

Date: January 1, 1990

Creator: Butler, P.L.; Glassell, R.L. & Rowe, J.C.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

The NASA (National Aeronautics and Space Administration) Laboratory Telerobotic Manipulator control system architecture

In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual-arm, force reflecting teleoperator system with robotic features for NASA ground-based research. This paper describes the overall control system architecture, including both the hardware and software. The control system is a… more

Date: January 1, 1991

Creator: Rowe, J.C.; Butler, P.L.; Glassell, R.L. & Herndon, J.N.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Custom electronic subsystems for the Laboratory Telerobotic Manipulator

The National Aeronautics and Space Administration (NASA) Space Station Program presents new opportunities for the application of telerobotic and robotic systems. The Laboratory Telerobotic Manipulator (LTM) is a highly advanced 7 degrees-of-freedom (DOF) telerobotic/robotic manipulator. It was developed and built for the Automation Technology Branch at NASA's Langley Research Center (LaRC) for work in research and to demonstrate ground-based telerobotic manipulator system hardware and software … more

Date: January 1, 1990

Creator: Glassell, R.L.; Butler, P.L.; Rowe, J.C. (Oak Ridge National Lab., TN (USA)) & Zimmermann, S.D. (TeleRobotics International, Inc., Knoxville, TN (USA))

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Manipulation hardware for microgravity research

The establishment of permanent low earth orbit occupation on the Space Station Freedom will present new opportunities for the introduction of productive flexible automation systems into the microgravity environment of space. The need for robust and reliable robotic systems to support experimental activities normally intended by astronauts will assume great importance. Many experimental modules on the space station are expected to require robotic systems for ongoing experimental operations. When… more

Date: January 1, 1990

Creator: Herndon, J.N.; Glassell, R.L.; Butler, P.L.; Williams, D.M. (Oak Ridge National Lab., TN (USA)); Rohn, D.A. (National Aeronautics and Space Administration, Cleveland, OH (USA). Lewis Research Center) & Miller, J.H. (Sverdrup Technology, Inc., Brook Park, OH (USA))

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Use of the Modified Light Duty Utility Arm to Perform Nuclear Waste Cleanup of Underground Waste Storage Tanks at Oak Ridge National Laboratory

The Modified Light Duty Utility Arm (MLDUA) is a selectable seven or eight degree-of-freedom robot arm with a 16.5 ft (5.03 m) reach and a payload capacity of 200 lb. (90.72 kg). The utility arm is controlled in either joystick-based telerobotic mode or auto sequence robotics mode. The MLDUA deployment system deploys the utility arm vertically into underground radioactive waste storage tanks located at Oak Ridge National Laboratory. These tanks are constructed of gunite material and consist of … more

Date: April 1, 1999

Creator: Blank, J. A.; Burks, B. L.; DePew, R. E.; Falter, D. D.; Glassell, R. L.; Glover, W. H. et al.

Item Type: Article

Partner: UNT Libraries Government Documents Department