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Advanced Sensing and Control Techniques to Facilitate Semi-Autonomous Decommissioning

Description: This research is intended to advance the technology of semi-autonomous teleoperated robotics as applied to Decontamination and Decommissioning (D&D) tasks. Specifically, research leading to a prototype dual-manipulator mobile work cell is underway. This cell is supported and enhanced by computer vision, virtual reality and advanced robotics technology.
Date: June 1, 1999
Creator: Schalkoff, Robert J.
Partner: UNT Libraries Government Documents Department

Remote Manipulation of D&D Exhibiting Tele-Autonomy and Tele-Collaboration

Description: Teleoperation has found much application in today's society. While its benefits make it advantageous in many situations, teleoperation also introduces new challenges. In this paper, we present techniques to improve teleoperation performance by making better use of the human's inherent skills.
Date: December 5, 2006
Creator: Colgate, J. Edward; Ewing, Thomas F.; Park, Young S. & Peshkin, Michael A.
Partner: UNT Libraries Government Documents Department

Under sodium viewing

Description: From IEEE ultrasonics symposium; Monterey, California, USA (5 Nov 1973). Under sodium viewing combines some standard ultrasonic techniques with some new dnta processing methods to perform ranging and imaging fanctions in the optically opaque coolant of the Liquid Metal Fast Breeder Reactor. Pulse-echo scanning methods including both B-scan and C-scan are used in conjunction with a synthesis of these methods by a technique called ISO-SCAN. by combining depth and spatial information from the B- and Cscans, ISO-SCAN produces a 3-dimensional visualization of objects submersed in liquid sodium. Special transducers have been developed to operate in sodium at temperatures up to 550 deg F. This developm ent included a process for promoting rapid wetting of the tainless steel lens of the transducer by the sodium. A lack of wetting prevents acoustic coupling between the transducer and sodium. Experiments conducted in sodium to 600 deg F have demonstrated the ability to locate and identify objects. (auth)
Date: October 1, 1973
Creator: Day, C.K. & Smith, R.W.
Partner: UNT Libraries Government Documents Department


Description: This paper discusses the successful implementation of simple video technologies at the Savannah River Site (SRS) to perform complex visual inspection, monitoring, and surveillance tasks. Because SRS facilities are similar to those of an industrial plant, the environmental and accessibility considerations for remote viewing are the primary determining factors in the selection of technology. The constraints and challenges associated with remote viewing are discussed, and examples of applications are given.
Date: July 21, 2007
Creator: Robinson, C.
Partner: UNT Libraries Government Documents Department

Macro and Micro Remote Viewing of Objects in Sealed Gloveboxes

Description: The Savannah River Site uses sophisticated glovebox facilities to process and analyze material that is radiologically contaminated or that must be protected from contamination by atmospheric gases. The analysis can be visual, non destructive measurement, or destructive measurement, and allows for the gathering of information that would otherwise not be obtainable. Macro and Micro systems that cover a range of 2X to 400X magnifications with a robust system compatible with the harsh glovebox environment were installed. Remote video inspection systems were developed and deployed in Savannah River Site glovebox facilities that provide high quality or mega-pixel quality remote views, for remote inspections. The specialized video systems that are the subject of this report exhibited specialized field application of remote video/viewing techniques by expanding remote viewing to high and very high quality viewing in gloveboxes. This technological enhancement will allow the gathering of precision information that is otherwise not available.
Date: February 11, 2004
Creator: Heckendorn, F.M.
Partner: UNT Libraries Government Documents Department

Base program interim phase test procedure - Coherent Laser Vision System (CLVS). Final report, September 27, 1994--January 30, 1997

Description: The purpose of the CLVS research project is to develop a prototype fiber-optic based Coherent Laser Vision System suitable for DOE`s EM Robotics program. The system provides three-dimensional (3D) vision for monitoring situations in which it is necessary to update geometrics on the order of once per second. The CLVS project plan required implementation in two phases of the contract, a Base Contract and a continuance option. This is the Test Procedure and test/demonstration results presenting a proof-of-concept for a system providing three-dimensional (3D) vision with the performance capability required to update geometrics on the order of once per second.
Date: May 1, 1997
Partner: UNT Libraries Government Documents Department

A Remotely Deployed Laser System for Viewing/Metrology

Description: A metrology system is being developed for in-vessel inspection of present day experimental, and next generation fusion reactors. It requires accurate measuring capability to verify sub-millimeter alignment of plasma-facing components in the reactor vessel. A metrology system capable of achieving such accuracy for next generation reactors must be compatible with the vessel environment of high gamma radiation, high vacuum, elevated temperature, and magnetic field. This environment requires that the system must be remotely deployed. A coherent, frequency modulated laser radar system that is capable of correcting for environmental vibration meets these requirements. The metrologyhiewing system consists of a compact laser transceiver optics module which is linked through fiber optics to the laser source and imaging units, that are located outside of the harsh environment. The deployment mechanism configured for a next generation reactor was telescopic-mast positioning system. This paper identifies the requirements for the metrology/viewing system having precision ranging and surface mapping capability, and discusses the results of various environmental tests.
Date: April 25, 1999
Creator: Barry, R.E.; Herndon, J.N.; Menon, M.M. & Spampinato, P.T.
Partner: UNT Libraries Government Documents Department


Description: The purpose of this research project was to develop a prototype fiber-optic based Coherent Laser Vision System (CLVS) suitable for DOE's EM Robotic program. The system provides three-dimensional (3D) vision for monitoring situations in which it is necessary to update the dimensional spatial data on the order of once per second. The system has total immunity to ambient lighting conditions.
Date: November 18, 1999
Creator: Clark, Robert
Partner: UNT Libraries Government Documents Department


Description: Environmental restoration and waste management (ER and WM) challenges in the United States Department of Energy (DOE), and around the world, involve radiation or other hazards which will necessitate the use of remote operations to protect human workers from dangerous exposures. Remote operations carry the implication of greater costs since remote work systems are inherently less productive than contact human work due to the inefficiencies/complexities of teleoperation. To reduce costs and improve quality, much attention has been focused on methods to improve the productivity of combined human operator/remote equipment systems; the achievements to date are modest at best. The most promising avenue in the near term is to supplement conventional remote work systems with robotic planning and control techniques borrowed from manufacturing and other domains where robotic automation has been used. Practical combinations of teleoperation and robotic control will yield telerobotic work systems that outperform currently available remote equipment. It is believed that practical telerobotic systems may increase remote work efficiencies significantly. Increases of 30% to 50% have been conservatively estimated for typical remote operations. It is important to recognize that the basic hardware and software features of most modern remote manipulation systems can readily accommodate the functionality required for telerobotics. Further, several of the additional system ingredients necessary to implement telerobotic control--machine vision, 3D object and workspace modeling, automatic tool path generation and collision-free trajectory planning--are existent.
Date: August 1, 2000
Creator: Hamel, William R. & Everett, Steven
Partner: UNT Libraries Government Documents Department


Description: In its original form, this project was intended to utilize the capabilities of the Analytical Laboratory at Florida International University's Hemispheric Center for Environmental Technology (FIU-HCET) to carry out validation and verification of data obtained in the field for purposes of characterization, monitoring, and sensing in relation to closure and post-closure of various sites throughout the DOE complex. To do this, technologies were to be identified that had already been deployed and had produced field data. The role of the FIU-HCET Analytical Laboratory was considered first as part of a round robin team with other laboratories or, alternatively, to act as an objective third-party laboratory in evaluating validation data by others. Shortly after the onset of the project, FIU-HCET determined that specific deployed technologies were not readily identifiable. Thus, the direction of the project was changed to one in which the FKJ-HCET Analytical Laboratory would investigate DOE needs that require validation. These needs were examined primarily on the Internet, as listed by each specific site. In addition, needs having validation implications for regulatory agencies, such as the EPA, were also investigated. Furthermore, contact was made with laboratories with which the FIU-HCET Analytical Laboratory could act in a round robin or third-party capacity. Included in this report are potentially deployable technologies that would lend themselves to validation and verification of field data. FIU-HCET intends to monitor the deployment of these technologies with a view toward carrying out the validation activities originally proposed.
Date: January 1, 1999
Creator: M.A. Ebadian, Ph.D.
Partner: UNT Libraries Government Documents Department

An infrared/video fusion system for military robotics

Description: Sensory information is critical to the telerobotic operation of mobile robots. In particular, visual sensors are a key component of the sensor package on a robot engaged in urban military operations. Visual sensors provide the robot operator with a wealth of information including robot navigation and threat assessment. However, simple countermeasures such as darkness, smoke, or blinding by a laser, can easily neutralize visual sensors. In order to provide a robust visual sensing system, an infrared sensor is required to augment the primary visual sensor. An infrared sensor can acquire useful imagery in conditions that incapacitate a visual sensor. A simple approach to incorporating an infrared sensor into the visual sensing system is to display two images to the operator: side-by-side visual and infrared images. However, dual images might overwhelm the operator with information, and result in degraded robot performance. A better solution is to combine the visual and infrared images into a single image that maximizes scene information. Fusing visual and infrared images into a single image demands balancing the mixture of visual and infrared information. Humans are accustom to viewing and interpreting visual images. They are not accustom to viewing or interpreting infrared images. Hence, the infrared image must be used to enhance the visual image, not obfuscate it.
Date: August 5, 1997
Creator: Davis, A.W. & Roberts, R.S.
Partner: UNT Libraries Government Documents Department

UIUC reactor support equipment upgrade

Description: The FY94 grant was used for the purchase of 3 digital area radiation monitors to replace an aging (+30 years) Tracerlab system. Funds were also available for the purchase of items to construct an underwater camera. These items have all been purchased and are installed/constructed. The underwater camera will be of great use when fuel inspections are performed at the beginning of the year.
Date: November 1, 1994
Creator: Holm, R.L.
Partner: UNT Libraries Government Documents Department


Description: Since 1993, the IAEA has made great progress in the implementation of remote monitoring. Equipment has been developed and tested, and installed systems are being used for safeguards purposes. The cost of equipment, the complexity of communication technology, and maintenance of the equipment are challenges that still face the IAEA. Resolution of these challenges will require significant effort. The USSP is committed to assisting the IAEA to overcome these challenges.
Date: May 8, 2000
Creator: PEPPER,S.E.
Partner: UNT Libraries Government Documents Department

Small pipe characterization system (SPCS) conceptual design

Description: Throughout the Department of Energy (DOE) complex there are many facilities that have been identified for Decontamination and Decommissioning (D&D). As processes are terminated or brought off-line, facilities are placed on the inactive list, and facility managers and site contractors are required to assure a safe and reliable decommissioning and transition of these facilities to a clean final state. Decommissioning of facilities requires extensive reliable characterization, decontamination and in some cases dismantlement. Characterization of piping systems throughout the DOE complex is becoming more and more necessary. In addition to decommissioning activities, characterization activities are performed as part of surveillance and maintenance (S&M). Because of the extent of contamination, all inactive facilities require some type of S&M. These S&M activities include visual assessment, equipment and material accounting, and maintenance. The majority of the inactive facilities have piping systems 3 inches or smaller that are inaccessible because they are contaminated, imbedded in concrete, or run through hot cells. Many of these piping systems have been inactive for a number of years and there exists no current system condition information or the historical records are poor and/or missing altogether. Many of these piping systems are placed on the contaminated list, not because of known contamination, but because of the risk of internal contamination. Many of the piping systems placed on the contamination list may not have internal contamination. Because there is a potential however, they are treated as such. The cost of D&D can be greatly reduced by identifying and removing hot spot contamination, leaving clean piping to be removed using conventional methods. Accurate characterization of these piping systems is essential before, during and after all D&D activities.
Date: January 1, 1995
Creator: Anderson, M.O.; Ferrante, T.A. & McKay, M.D.
Partner: UNT Libraries Government Documents Department

ATR/OTR-SY Tank Camera Purge System and in Tank Color Video Imaging System

Description: This procedure will document the satisfactory operation of the 101-SY tank Camera Purge System (CPS) and 101-SY in tank Color Camera Video Imaging System (CCVIS). Included in the CPRS is the nitrogen purging system safety interlock which shuts down all the color video imaging system electronics within the 101-SY tank vapor space during loss of nitrogen purge pressure.
Date: June 6, 1995
Creator: Werry, S.M.
Partner: UNT Libraries Government Documents Department

Going Where No Man Can Go

Description: This paper discusses the successful remote visual inspection of a contaminated air exhaust tunnel running beneath the Savannah River Site's H-Canyon nuclear material separations facility. The air exhaust tunnel has been in operation since the 1950's, and the portion of the tunnel inspected has not been seen or accessed since startup. Numerous challenges were overcome in the deployment of the vehicle, including an initial 10-ft drop, travelling a long distance through harsh environmental conditions, surviving and recovering from a second vertical drop, turning 90 degrees, and subsequently travelling further. Video of the entire inspection was transmitted back to a control station, and the vehicle was abandoned in place for possible future use.
Date: February 5, 2004
Creator: Robinson, C.W.
Partner: UNT Libraries Government Documents Department

Integrated Computer-Enhanced Remote Viewing System. Quarterly report No. 3, April--June 1993

Description: The Interactive, Computer-Enhanced, Remote Viewing System (ICERVS) is designed to provide a reliable geometric description of a robotic task space in a fashion that enables robotic remediation to be carried out more efficiently and economically that with present systems. The key elements are a robust way to store empirical data and a friendly user interface that provides an operator with timely access to all that is known about a scene. ICERVS will help an operator to analyze a scene and generate additional geometric data for automating significant portions of the remediation activity. Features that enable this include the following: storage and display of empirical sensor data; ability to update segments of the geometric description of the task space; side-by-side comparisons of a live TV scene and a computer generated view of the same scene; ability to create and display computer models of perceived objects in the task space, together with textual comments; and easy export of data to robotic world models for robot guidance. Phase 1 of this project was essentially completed in the month of June. Phase 1 (Level III) of this project focuses on the development of the Data Library, which contains the geometric data about the task space and the object in it, and the Toolkit, which includes the mechanisms for manipulating and displaying both empirical and model data.
Date: September 6, 1993
Partner: UNT Libraries Government Documents Department

Group tele-immersion:enabling natural interactions between groups at distant sites.

Description: We present techniques and a system for synthesizing views for video teleconferencing between small groups. In place of replicating one-to-one systems for each pair of users, we create a single unified display of the remote group. Instead of performing dense 3D scene computation, we use more cameras and trade-off storage and hardware for computation. While it is expensive to directly capture a scene from all possible viewpoints, we have observed that the participants viewpoints usually remain at a constant height (eye level) during video teleconferencing. Therefore, we can restrict the possible viewpoint to be within a virtual plane without sacrificing much of the realism, and in cloning so we significantly reduce the number of required cameras. Based on this observation, we have developed a technique that uses light-field style rendering to guarantee the quality of the synthesized views, using a linear array of cameras with a life-sized, projected display. Our full-duplex prototype system between Sandia National Laboratories, California and the University of North Carolina at Chapel Hill has been able to synthesize photo-realistic views at interactive rates, and has been used to video conference during regular meetings between the sites.
Date: August 1, 2005
Creator: Yang, Christine L. (Sandia National Laboratories, Livermore, CA); Stewart, Corbin (Sandia National Laboratories, Livermore, CA) & Nashel, Andrew (University of North Carolina at Chapel Hill, Chapel Hill, NC)
Partner: UNT Libraries Government Documents Department

Virtual Optical Comparator

Description: The Virtual Optical Comparator, VOC, was conceived as a result of the limitations of conventional optical comparators and vision systems. Piece part designs for mechanisms have started to include precision features on the face of parts that must be viewed using a reflected image rather than a profile shadow. The VOC concept uses a computer generated overlay and a digital camera to measure features on a video screen. The advantage of this system is superior edge detection compared to traditional systems. No vinyl charts are procured or inspected. The part size and expensive fixtures are no longer a concern because of the range of the X-Y table of the Virtual Optical Comparator. Product redesigns require only changes to the CAD image overlays; new vinyl charts are not required. The inspection process is more ergonomic by allowing the operator to view the part sitting at a desk rather than standing over a 30 inch screen. The procurement cost for the VOC will be less than a traditional comparator with a much smaller footprint with less maintenance and energy requirements.
Date: October 20, 2008
Creator: Thompson, Greg
Partner: UNT Libraries Government Documents Department

Acceptance test report for the Tank 241-C-106 in-tank imaging system

Description: This document presents the results of Acceptance Testing of the 241-C-106 in-tank video camera imaging system. The purpose of this imaging system is to monitor the Project W-320 sluicing of Tank 241-C-106. The objective of acceptance testing of the 241-C-106 video camera system was to verify that all equipment and components function in accordance with procurement specification requirements and original equipment manufacturer`s (OEM) specifications. This document reports the results of the testing.
Date: May 22, 1998
Creator: Pedersen, L.T.
Partner: UNT Libraries Government Documents Department