Knowledge Resource Center for Ecological Environment in Arid Area
| DOI | 10.2172/140803 |
| 报告编号 | SAND--91-0558 |
| 来源ID | OSTI_ID: 140803 |
| Automated waste canister docking and emplacement using a sensor-based intelligent controller; Yucca Mountain Site Characterization Project | |
| Drotning, W.D. | |
| 英文摘要 | A sensor-based intelligent control system is described that utilizes a multiple degree-of-freedom robotic system for the automated remote manipulation and precision docking of large payloads such as waste canisters. Computer vision and ultrasonic proximity sensing are used to control the automated precision docking of a large object with a passive target cavity. Real-time sensor processing and model-based analysis are used to control payload position to a precision of {plus_minus} 0.5 millimeter. |
| 出版年 | 1992 |
| 报告类型 | Technical Report |
| 语种 | 英语 |
| 国家 | 美国 |
| 来源学科分类 | 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES ; 05 NUCLEAR FUELS ; CONTROL SYSTEMS ; EVALUATION ; REMOTE HANDLING EQUIPMENT ; CONTAINERS ; MANIPULATORS ; AUTOMATION ; ROBOTS ; HIGH-LEVEL RADIOACTIVE WASTES ; RADIOACTIVE WASTE FACILITIES ; RADIOACTIVE WASTE STORAGE ; Yucca Mountain Project |
| URL | http://www.osti.gov/scitech/servlets/purl/140803 |
| 资源类型 | 科技报告 |
| 条目标识符 | http://119.78.100.177/qdio/handle/2XILL650/264837 |
| 推荐引用方式 GB/T 7714 | Drotning, W.D.. Automated waste canister docking and emplacement using a sensor-based intelligent controller; Yucca Mountain Site Characterization Project,1992. |
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