NDLI: A sensor-based automation system for handling nuclear materials

Content Provider	IEEE Xplore Digital Library
Author	Drotning, W. Kimberly, H. Wapman, W. Darras, D. Homan, D. Johnson, P. Kast, B. Kuhlmann, J. Lennox, R.C. Montoya, C.
Copyright Year	1997
Description	Author affiliation: Intelligent Syst. & Robotics Center, Sandia Nat. Labs., Albuquerque, NM, USA (Drotning, W.)
Abstract	An automated system is being developed for handling large payloads of radioactive nuclear materials in an analytical laboratory. The automation system performs unpacking and repacking of payloads from shipping and storage containers, and delivery of the payloads to the stations in the laboratory. The system uses machine vision and force/torque sensing to provide sensor-based control of the automation system in order to enhance system safety, flexibility, and robustness, and achieve easy remote operation. The automation system also controls the operation of the laboratory measurement systems and the coordination of them with the robotic system. Particular attention has been given to system design features and analytical methods that provide an enhanced level of operational safety. Independent mechanical gripper interlock and tool release mechanisms were designed to prevent payload mishandling. An extensive failure modes and effects analysis of the automation system was developed as a safety design analysis tool.
Starting Page	352
Ending Page	358
File Size	716732
Page Count	7
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620063
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Payloads Robotics and automation Laboratories Safety Radioactive materials Storage automation Automatic control Control systems Failure analysis Containers
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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