Mobile robotics applied to the remote verification of storage areas
Remote verification techniques are becoming increasingly important for the long-term storage of fissile materials in areas of difficult access. A mobile robotics system was developed to perform remote verification tasks inside a fissile material pilot storage area. The console is a graphical workstation, from which the plant operator or an inspector can guide the vehicle, monitor its progress, and control the movements of the manipulator arm. This paper describes the overall system, together with its functions and architecture at both hardware and software levels. Aspects of the human/computer interface are discussed, including tools for navigation, image presentation and control of the manipulator arm. A position authentication module is also introduced which works on data from the onboard laser range finder. Finally, current research work is described, including the use of neural networks for vehicle navigation, and the use of range images for environmental authentication and modelling.
Bibliographic Reference: Paper presented: 15th ESARDA Symposium on Safeguards and Nuclear Material Management, Roma (IT), May 11-13, 1993
Availability: Available from (1) as Paper EN 37562 ORA
Record Number: 199310886 / Last updated on: 1994-11-29
Original language: en
Available languages: en