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Conference Paper: A modular planning/control architecture for the semi-autonomous control of telerobots in a hazardous environment

TitleA modular planning/control architecture for the semi-autonomous control of telerobots in a hazardous environment
Authors
KeywordsSemi-autonomous control
Control systems
Intelligent control
Teleoperation
Issue Date1997
Citation
Proceedings of SPIE - The International Society for Optical Engineering, 1997, v. 3209, p. 182-189 How to Cite?
AbstractThe Oak Ridge National Laboratory (ORNL) has demonstrated, evaluated, 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 contact with the environment. Working in partnership with Washington University, ORNL has implemented an Event Based Planner / Function Based Sharing Control (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 to emphasize safety without any 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/10722/213034
ISSN

 

DC FieldValueLanguage
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorBrady, Kevin-
dc.contributor.authorXi, Ning-
dc.contributor.authorLove, Lonnie-
dc.contributor.authorLloyd, Peter-
dc.contributor.authorBurks, Barry-
dc.contributor.authorDavis, Hurley-
dc.date.accessioned2015-07-28T04:05:50Z-
dc.date.available2015-07-28T04:05:50Z-
dc.date.issued1997-
dc.identifier.citationProceedings of SPIE - The International Society for Optical Engineering, 1997, v. 3209, p. 182-189-
dc.identifier.issn0277-786X-
dc.identifier.urihttp://hdl.handle.net/10722/213034-
dc.description.abstractThe Oak Ridge National Laboratory (ORNL) has demonstrated, evaluated, 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 contact with the environment. Working in partnership with Washington University, ORNL has implemented an Event Based Planner / Function Based Sharing Control (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 to emphasize safety without any 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.ispartofProceedings of SPIE - The International Society for Optical Engineering-
dc.subjectSemi-autonomous control-
dc.subjectControl systems-
dc.subjectIntelligent control-
dc.subjectTeleoperation-
dc.titleA modular planning/control architecture for the semi-autonomous control of telerobots in a hazardous environment-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1117/12.287636-
dc.identifier.scopuseid_2-s2.0-57649134333-
dc.identifier.volume3209-
dc.identifier.spage182-
dc.identifier.epage189-

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