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Control Of A Long Reach Manipulator With Suspension Cables For Waste Storage Tank Remediation Final Report
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Book Synopsis Control of a Long Reach Manipulator with Suspension Cables for Waste Storage Tank Remediation. Final Report by :
Download or read book Control of a Long Reach Manipulator with Suspension Cables for Waste Storage Tank Remediation. Final Report written by and published by . This book was released on 1994 with total page 10 pages. Available in PDF, EPUB and Kindle. Book excerpt: A long reach manipulator will be used for waste remediation in large underground storage tanks. The manipulator's slenderness makes it flexible and difficult to control. A low-cost and effective method to enhance the manipulator's stiffness is proposed in this research by using suspension cables. These cables can also be used to accurately measure the position of the manipulator's wrist.
Book Synopsis On Stiffening Cables of a Long Reach Manipulator by :
Download or read book On Stiffening Cables of a Long Reach Manipulator written by and published by . This book was released on 1996 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Radioactive Waste Management written by and published by . This book was released on 1996 with total page 584 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Government Reports Announcements & Index by :
Download or read book Government Reports Announcements & Index written by and published by . This book was released on 1996 with total page 1000 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Input Shaping Methods for Telerobotic Operation of Flexible, Long-reach Manipulators by :
Download or read book Input Shaping Methods for Telerobotic Operation of Flexible, Long-reach Manipulators written by and published by . This book was released on 1994 with total page 7 pages. Available in PDF, EPUB and Kindle. Book excerpt: Among the Environmental Restoration and Waste Management Program of the U.S. Department of Energy, the remediation of radioactive waste from the underground storage tank challenges the state-of-the-art equipment and methods. Long-reach manipulators are being considered to be one of the most advantageous approaches for the retrieval of waste from large storage tanks. Because of long-reach manipulator's high payload capacity and high length-to-cross-section ratios, such manipulator system exhibits significant structural flexibility. To avoid structural vibrations during operation, control algorithms employing various types of shaping filters were investigated. A robust notch filtering method and an impulse shaping method were evaluated. In addition to that, a new approach that uses imbedded simulation was developed and compared with others. In the new approach, joint trajectories have been generated considering the flexible link dynamics.
Book Synopsis Tracking Control of the Hydraulically Actuated Flexible Manipulator by :
Download or read book Tracking Control of the Hydraulically Actuated Flexible Manipulator written by and published by . This book was released on 1995 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Department of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task. Because high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using a pressure feed backloop. Shaping filter techniques have been applied as a feedforward controller to avoid structural vibrations during operation. Among various types of shaping filter methods investigated an approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented.
Book Synopsis Design and Experimental Evaluation of Flexible Manipulator Control Algorithms by :
Download or read book Design and Experimental Evaluation of Flexible Manipulator Control Algorithms written by and published by . This book was released on 1995 with total page 9 pages. Available in PDF, EPUB and Kindle. Book excerpt: Within the Environmental Restoration and Waste Management Program of the US Department of Energy, the remediation of single-shell radioactive waste storage tanks is one of the areas that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this task. Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems are expected to use hydraulic actuators and to exhibit significant structural flexibility. The controller has been designed to compensate for the hydraulic actuator dynamics by using a load-compensated velocity feedforward loop and to increase the bandwidth by using an inner pressure feedback loop. Shaping filter techniques have been applied as feedforward controllers to avoid structural vibrations during operation. Various types of shaping filter methods have been investigated. Among them, a new approach, referred to as a ''feedforward simulation filter'' that uses embedded simulation, has been presented.
Book Synopsis Key Design Requirements for Long-reach Manipulators by :
Download or read book Key Design Requirements for Long-reach Manipulators written by and published by . This book was released on 1993 with total page 54 pages. Available in PDF, EPUB and Kindle. Book excerpt: Long-reach manipulators differ from industrial robots and teleoperators typically used in the nuclear industry in that the aspect ratio (length to diameter) of links is much greater and link flexibility, as well as joint or drive train flexibility, is likely to be significant. Long-reach manipulators will be required for a variety of applications in the Environmental Restoration and Waste Management Program. While each application will present specific functional kinematic, and performance requirements an approach for determining the kinematic applicability and performance characteristics is presented, with a focus on waste storage tank remediation. Requirements are identified, kinematic configurations are considered, and a parametric study of link design parameters and their effects on performance characteristics is presented.
Book Synopsis Control Issues Related to Bilateral Teleoperation of Long-reach, Flexible Manipulators by :
Download or read book Control Issues Related to Bilateral Teleoperation of Long-reach, Flexible Manipulators written by and published by . This book was released on 1997 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: A challenging problem presently being addressed by the Department of Energy (DOE) is the extraction of large volumes of hazardous waste from underground waste storage facilities. The nature of the material requires the use of robotic and teleoperated systems. Furthermore, the constraints of the storage tanks require the use of long reach manipulators. These robots are characterized by their large workspace and reduced mass. Unfortunately, this reduction in mass increases structural compliance, making these robots susceptible to vibration. Until recently, no attempt has been made to provide the operator any type of force reflection due to the compliance of the slave robot. This paper addresses the control of bilateral teleoperation systems that use long-reach, flexible manipulators. Analysis and experiments show that the compliance of the slave robot directly affects the stability of the teleoperation system. This study suggests that this may be controlled by increasing the damping on the master robot. However, this increase in target damping increases the energy an operator must exert during the execution of a task. A new teleoperation strategy adapts the target impedance of the master robot to variations in the identified impedance of the remote environment coupled to the slave robot. Experiments show increased performance due to a decrease in the energy the operator must provide during task execution.
Download or read book Teleoperator Hand Controllers written by and published by . This book was released on 1994 with total page 30 pages. Available in PDF, EPUB and Kindle. Book excerpt: This document provides a human factors assessment of controllers for use with remotely controlled manipulators deployed to remove hazardous waste from underground storage tanks. The analysis concentrates on controller technique (i.e., the broad class of hand controller) and not on details of controller ergonomics. Examples of controller techniques include, for example, direct rate control, resolved unilateral position control, and direct bilateral position control. Using an existing concept, the Tank Waste Retrieval Manipulator System, as a reference, two basic types of manipulators may be identified for this application. A long reach, gross-positioning manipulator (LRM) may be used to position a smaller manipulator or an end-effector within a work site. For a Long Reach Manipulator, which will have an enormous motion range and be capable of high end-effector velocity, it will be safest and most efficient to use a resolved rate control system. A smaller, dexterous manipulator may be used to perform handling work within a relatively small work site, (i.e., to complete tasks requiring near-human dexterity). For a Dexterous Manipulator, which will have a smaller motion range than the LRM and be required to perform more difficult tasks, a resolved bilateral position control system will be safest and most efficient. However, during some waste recovery tasks it may be important to support the users by restricting movements to a single plane or axis. This can be done with a resolved bilateral position control system by (1) using the master controller force output to restrict controller inputs or (2) switching the controller to a multiaxis rate control mode and using the force output to provide a spring return to center functionality.
Book Synopsis Underground Storage Tank Corrective Action Technologies by :
Download or read book Underground Storage Tank Corrective Action Technologies written by and published by . This book was released on 1987 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Occupational Safety and Health Guidance Manual for Hazardous Waste Site Activities by :
Download or read book Occupational Safety and Health Guidance Manual for Hazardous Waste Site Activities written by and published by . This book was released on 1985 with total page 156 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Advanced Control of Flexible Manipulators by : Patrick B. Usoro
Download or read book Advanced Control of Flexible Manipulators written by Patrick B. Usoro and published by . This book was released on 1983 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Positional Control Strategies for a Modular, Long-reach, Truss-type Manipulator by : Robert James Salerno
Download or read book Positional Control Strategies for a Modular, Long-reach, Truss-type Manipulator written by Robert James Salerno and published by . This book was released on 1993 with total page 338 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Guide for the Care and Use of Laboratory Animals by : National Research Council
Download or read book Guide for the Care and Use of Laboratory Animals written by National Research Council and published by National Academies Press. This book was released on 2011-01-27 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: A respected resource for decades, the Guide for the Care and Use of Laboratory Animals has been updated by a committee of experts, taking into consideration input from the scientific and laboratory animal communities and the public at large. The Guide incorporates new scientific information on common laboratory animals, including aquatic species, and includes extensive references. It is organized around major components of animal use: Key concepts of animal care and use. The Guide sets the framework for the humane care and use of laboratory animals. Animal care and use program. The Guide discusses the concept of a broad Program of Animal Care and Use, including roles and responsibilities of the Institutional Official, Attending Veterinarian and the Institutional Animal Care and Use Committee. Animal environment, husbandry, and management. A chapter on this topic is now divided into sections on terrestrial and aquatic animals and provides recommendations for housing and environment, husbandry, behavioral and population management, and more. Veterinary care. The Guide discusses veterinary care and the responsibilities of the Attending Veterinarian. It includes recommendations on animal procurement and transportation, preventive medicine (including animal biosecurity), and clinical care and management. The Guide addresses distress and pain recognition and relief, and issues surrounding euthanasia. Physical plant. The Guide identifies design issues, providing construction guidelines for functional areas; considerations such as drainage, vibration and noise control, and environmental monitoring; and specialized facilities for animal housing and research needs. The Guide for the Care and Use of Laboratory Animals provides a framework for the judgments required in the management of animal facilities. This updated and expanded resource of proven value will be important to scientists and researchers, veterinarians, animal care personnel, facilities managers, institutional administrators, policy makers involved in research issues, and animal welfare advocates.
Book Synopsis Retrieval and Conditioning of Solid Radioactive Waste from Old Facilities by : International Atomic Energy Agency
Download or read book Retrieval and Conditioning of Solid Radioactive Waste from Old Facilities written by International Atomic Energy Agency and published by IAEA. This book was released on 2007 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report provides information and discussion on planning, methodologies and technologies for retrieval and reconditioning of radioactive wastes recovered from old, inadequate disposal or storage facilities. The objective of such projects is to improve waste safety and security in accordance with modern requirements. Selected international experiences in waste retrieval and recovery projects are included. The report serves as a guide for storage and disposal facility personnel responsible for the organization and implementation of waste retrieval and reconditioning projects to optimize planning, selection and use of available and applicable technologies and resources.--Publisher's description.
Download or read book 中小企業経営の心得 written by and published by . This book was released on 1985 with total page 20 pages. Available in PDF, EPUB and Kindle. Book excerpt:
