详情

原文传递 Interactive computer-enhanced remote viewing system

题名：	Interactive computer-enhanced remote viewing system
作者：	Wagner, J.F.;Tourtellott, J.A.;
关键词：	42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES;05 NUCLEAR FUELS ; REMOTE VIEWING EQUIPMENT; EVALUATION; PERFORMANCE; RADIOACTIVE WASTES; REMEDIAL ACTION; REMOTE HANDLING; I CODES; COMPUTERIZED SIMULATION
摘要：	Remediation activities such as decontamination and decommissioning (D&D) typically involve materials and activities hazardous to humans. Robots are an attractive way to conduct such remediation, but for efficiency they need a good three-dimensional (3-D) computer model of the task space where they are to function. This model can be created from engineering plans and architectural drawings and from empirical data gathered by various sensors at the site. The model is used to plan robotic tasks and verify that selected paths am clear of obstacles. This need for a task space model is most pronounced in the remediation of obsolete production facilities and underground storage tanks. Production facilities at many sites contain compact process machinery and systems that were used to produce weapons grade material. For many such systems, a complex maze of pipes (with potentially dangerous contents) must be removed, and this represents a significant D&D challenge. In an analogous way, the underground storage tanks at sites such as Hanford represent a challenge because of their limited entry and the tumbled profusion of in-tank hardware. In response to this need, the Interactive Computer-Enhanced Remote Viewing System (ICERVS) is being designed as a software system to: (1) Provide a reliable geometric description of a robotic task space, and (2) Enable robotic remediation to be conducted more effectively and more economically than with available techniques. A system such as ICERVS is needed because of the problems discussed below.
总页数：	9p
报告类型：	科技报告