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in creator/contributor: "Haley, D.C."

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Advanced robotics for decontamination and dismantlement

The decontamination and dismantlement (D&D) robotics technology application area of the US Department of Energy`s Robotics Technology Development Program is explained and described. D&D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized.… more

Date: June 1, 1994

Creator: Hamel, W. R. & Haley, D. C.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

A quick telemanipulator calibration and repeatability method with applications

This paper will present a methodology that was used to calibrate and measure the repeatability of two telemanipulators at Oak Ridge National Laboratory. The global accuracy of the method was 0.05 in. ({approx_equal} 1.3 mm), and the orientation accuracy was approximately 6 min ({approx_equal} 0.002 rads). For most teleoperator systems, these accuracies are more than adequate because of the construction of the mechanism and sensor capabilities (e.g., typically 12 bits of resolution). Although in… more

Date: September 1, 1994

Creator: Jansen, J. F. & Haley, D. C.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Dual-arm manipulation module for use in decontamination and decommissioning operations

A dual-arm manipulation module is under development for application in decontamination and decommissioning (D&D) tasks. The development is led by Oak Ridge National Laboratory with support from Sandia National Laboratories, and with university and industry participation. The project is part of the Robotics Technology Development Program funded by the US Department of Energy, Environmental Restoration and Waste Management, Office of Technology Development. The dual-arm module is designed to prov… more

Date: June 1, 1994

Creator: Hamel, W. R.; Haley, D. C. & Dixon, W. E.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

Proximity sensor system development. CRADA final report

Lockheed Martin Energy Research Corporation (LMERC) and Merritt Systems, Inc. (MSI) entered into a Cooperative Research and Development Agreement (CRADA) for the development and demonstration of a compact, modular proximity sensing system suitable for application to a wide class of manipulator systems operated in support of environmental restoration and waste management activities. In teleoperated modes, proximity sensing provides the manipulator operator continuous information regarding the pr… more

Date: January 1, 1998

Creator: Haley, D. C. & Pigoski, T. M.

Item Type: Report

Partner: UNT Libraries Government Documents Department

open access

A Mobile Automated Characterization System (MACS) for indoor floor characterization

The Savannah River Technology Center (SRTC) and Oak Ridge National Laboratory are developing an advanced Mobile Automated Characterization System (MACS) to characterize indoor contaminated floors. MACS is based upon Semi-Intelligent Mobile Observing Navigator (SIMON), an earlier floor characterization system developed at SRTC. MACS will feature enhanced navigation systems, operator interface, and an interface to simplify integration of additional sensors. The enhanced navigation system will pro… more

Date: March 1, 1995

Creator: Richardson, B. S.; Haley, D. C.; Dudar, A. M. & Ward, C. R.

Item Type: Article

Partner: UNT Libraries Government Documents Department

open access

The selective equipment removal system dual arm work module

The Selective Equipment Removal System (SERS) was previously developed under the Department of Energy`s Robotics Technology Development Program to demonstrate and evaluate mobile telerobotic concepts for performing selective dismantlement using the reconfigurable dual-arm work module (DAWM). DAWM was designed for overhead transporter, crane hook, and mobile vehicle deployment. The DAWM configuration provided two 6-degree-of-freedom (D.O.F.) hydraulic manipulators with a maximum capacity of 240 … more

Date: December 31, 1997

Creator: Noakes, M. W.; Haley, D. C. & Willis, W. D.

Item Type: Article

Partner: UNT Libraries Government Documents Department