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Article: Modular telerobotic architecture for waste retrieval and remediation

TitleModular telerobotic architecture for waste retrieval and remediation
Authors
Issue Date1998
Citation
International Journal of Robotics Research, 1998, v. 17, n. 4, p. 450-460 How to Cite?
AbstractThe Oak Ridge National Laboratory (ORNL) has developed and deployed a telerobotic approach for the remote retrieval of hazardous and radioactive wastes from underground storage tanks. The telerobotic system, built by Spar Aerospace Ltd., is capable of dislodging and removing sludge and gravel-like wastes without endangering the human operators through direct contact with the environment. Working in partnership with Washington University, ORNL is implementing an event-based planner/Function-Based Sharing Controller (FBSC) as an integral part of their overall telerobotic architecture. These aspects of the system enable the seamless union of the human operator and an autonomous controller in such a way as to emphasize safety without loss of performance. The cooperation between ORNL Spar, and Washington University requires an open and modular control software architecture to enable the parallel development of various components of the system. ControlShell has been used as the underlying software architecture to help meet these criteria of generality and modularity.
Persistent Identifierhttp://hdl.handle.net/10722/212691
ISSN
2015 Impact Factor: 2.489
2015 SCImago Journal Rankings: 4.184

 

DC FieldValueLanguage
dc.contributor.authorBrady, Kevin-
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorXi, Ning-
dc.contributor.authorLove, Lonnie-
dc.contributor.authorLloyd, Peter-
dc.contributor.authorBurks, Barry-
dc.contributor.authorDavis, Hurley-
dc.date.accessioned2015-07-28T04:04:42Z-
dc.date.available2015-07-28T04:04:42Z-
dc.date.issued1998-
dc.identifier.citationInternational Journal of Robotics Research, 1998, v. 17, n. 4, p. 450-460-
dc.identifier.issn0278-3649-
dc.identifier.urihttp://hdl.handle.net/10722/212691-
dc.description.abstractThe Oak Ridge National Laboratory (ORNL) has developed and deployed a telerobotic approach for the remote retrieval of hazardous and radioactive wastes from underground storage tanks. The telerobotic system, built by Spar Aerospace Ltd., is capable of dislodging and removing sludge and gravel-like wastes without endangering the human operators through direct contact with the environment. Working in partnership with Washington University, ORNL is implementing an event-based planner/Function-Based Sharing Controller (FBSC) as an integral part of their overall telerobotic architecture. These aspects of the system enable the seamless union of the human operator and an autonomous controller in such a way as to emphasize safety without loss of performance. The cooperation between ORNL Spar, and Washington University requires an open and modular control software architecture to enable the parallel development of various components of the system. ControlShell has been used as the underlying software architecture to help meet these criteria of generality and modularity.-
dc.languageeng-
dc.relation.ispartofInternational Journal of Robotics Research-
dc.titleModular telerobotic architecture for waste retrieval and remediation-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0032050075-
dc.identifier.volume17-
dc.identifier.issue4-
dc.identifier.spage450-
dc.identifier.epage460-

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