Autonomous hazardous waste drum inspection vehicle

Author

Byler, Eric ; Chun, Wendell ; Hoff, William ; Layne, Dan

Author_Institution

Martin Marietta Astronaut. Group, Denver, CO, USA

Volume

2

Issue

1

fYear

1995

fDate

3/1/1995 12:00:00 AM

Firstpage

6

Lastpage

17

Abstract

Hundreds of thousands of hazardous, radioactive, and mixed waste drums are being stored throughout the world, and the anticipated decommissioning of facilities will generate many more drums. Currently, in compliance with federal regulations, waste storage facilities at U.S. Department of Energy (DOE) sites are inspected manually for degradation and to verify inventories. An Intelligent Mobile Sensing System (IMSS) has been developed for the automated inspection of radioactive and hazardous waste storage containers in warehouse facilities at DOE sites. The IMSS will reduce the risk of exposure to personnel and create accurate, high-quality inspection reports to ensure regulatory compliance. The IMSS includes an autonomous robotic device with enhanced intelligence and maneuverability, capable of conducting routine multisensor inspection of stored waste drums

Keywords

inspection; intelligent control; laser ranging; mobile robots; path planning; radioactive waste storage; Intelligent Mobile Sensing System; U.S. Department of Energy; autonomous hazardous waste drum inspection vehicle; autonomous robotic device; degradation; high-quality inspection reports; mixed waste drums; radioactive waste; routine multisensor inspection; warehouse facilities; waste storage facilities; Containers; Degradation; Inspection; Intelligent robots; Intelligent systems; Mobile robots; Personnel; Remotely operated vehicles; Storage automation; US Department of Energy;

fLanguage

English

Journal_Title

Robotics & Automation Magazine, IEEE

Publisher

ieee

ISSN

1070-9932

Type

jour

DOI

10.1109/100.388296

Filename

388296