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Titolo:
A MODULAR TELEROBOTIC ARCHITECTURE FOR WASTE RETRIEVAL AND REMEDIATION
Autore:
BRADY K; TARN TJ; XI N; LOVE L; LLOYD P; BURKS B; DAVIS H;
Indirizzi:
MIT,LINCOLN LAB,S20421 LEXINGTON MA 02173 WASHINGTON UNIV,DEPT SYST SCI & MATH ST LOUIS MO 63130 MICHIGAN STATE UNIV,DEPT ELECT ENGN E LANSING MI 48824 OAK RIDGE NATL LAB,ROBOT & PROC SYST DIV OAK RIDGE TN 37831
Titolo Testata:
The International journal of robotics research
fascicolo: 4, volume: 17, anno: 1998,
pagine: 450 - 460
SICI:
0278-3649(1998)17:4<450:AMTAFW>2.0.ZU;2-M
Fonte:
ISI
Lingua:
ENG
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
Science Citation Index Expanded
Citazioni:
10
Recensione:
Indirizzi per estratti:
Citazione:
K. Brady et al., "A MODULAR TELEROBOTIC ARCHITECTURE FOR WASTE RETRIEVAL AND REMEDIATION", The International journal of robotics research, 17(4), 1998, pp. 450-460

Abstract

The Oak Ridge National Laboratory (ORNL) has developed and deployed atelerobotic 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 lass of performance. The cooperation between ORNL, Spar, and Washington University requires an openand 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.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 27/11/20 alle ore 20:53:49