15 research outputs found
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Remote dismantlement activities for the Argonne CP-5 Research Reactor
The Department of Energy`s (DOE`s) Robotics Technology Development Program (RTDP) is participating in the dismantlement of a mothballed research reactor, Chicago Pile Number 5 (CP-5), at Argonne National Laboratory (ANL) to demonstrate technology developed by the program while assisting Argonne with their remote system needs. Equipment deployed for CP-5 activities includes the dual-arm work platform (DAWP), which will handle disassembly of reactor internals, and the RedZone Robotics-developed `Rosie` remote work vehicle, which will perform size reduction of shield plugs, demolition of the biological shield, and waste packaging. Remote dismantlement tasks are scheduled to begin in February of 1997 and to continue through 1997 and beyond
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RoboCon: A general purpose telerobotic control center
This report describes human factors issues involved in the design of RoboCon, a multi-purpose control center for use in US Department of Energy remote handling applications. RoboCon is intended to be a flexible, modular control center capable of supporting a wide variety of robotic devices
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Geometric Challenges in Designing Parts for Machining using Wire-fed DED
Wire-fed DED using MIG welding systems allows for high deposition rates
above 30lbs/hr, enabling much larger parts to be printed than would be possible on
other DED systems. However, a drawback to this high deposition rate is a relatively
low bead resolution on the printed part. Post-processing using machining is usually
required on any mating surfaces printed using wire-fed DED. Problems such as
residual stress in the build plate and printed part, underbuilding, and path
interpolations can all lead to insufficient material deposition and deviation from the
desired shape. These areas where the printed part varies from the model can leave
defects on post-processed surfaces. This paper will cover common geometry issues
that can arise from wire-fed DED and design changes that can be made to ensure that
the printed design contains the required material to achieve the finished part.Mechanical Engineerin
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CP-5 reactor remote dismantlement activities: Lessons learned in the integration of new technology in an operations environment
This paper presents the developer`s perspective on lessons learned from one example of the integration of new prototype technology into a traditional operations environment. The dual arm work module was developed by the Robotics Technology Development Program as a research and development activity to examine manipulator controller modes and deployment options. It was later reconfigured for the dismantlement of the Argonne National Laboratory Chicago Pile No. 5 reactor vessel as the crane-deployed dual arm work platform. Development staff worked along side operations staff during a significant part of the deployment to provide training, maintenance, and tooling support. Operations staff completed all actual remote dismantlement tasks. At the end of available development support funding, the Dual Arm Work Platform was turned over to the operations staff, who are still using it to complete their dismantlement tasks
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Dual Arm Work Module Development and Appplications
The dual arm work module (DAWM) was developed at Oak Ridge National Laboratory (ORNL) by the Robotics Technology Development Program (RTDP) as a development test bed to study issues related to dual arm manipulation, including platform cotilguration, controls, automation, operations, and tooling. The original platform was based on two Schilling Titan II manipulators mounted to a 5-degree-of- freedom (DOF) base fabricated by RedZone Robotics, Inc. The 5-DOF articulation provided a center torso rotation, linear actuation to change the separation between the arms, and arm base rotation joints to provide "elbows up," elbows down," or "elbows out" orientation. A series of tests were conducted on operations, tooling, and task space scene analysis (TSSA)-driven robotics for overhead transporter- mounted and crane hook-deployed scenarios. A concept was developed for DAWM deployment from a large remote work vehicle, but the project was redirected to support dismantlement of the Chicago Pile #5 (CP-5) reactor at Argonne National Laboratory in fiscal year (FY) 1997. Support of CP-5 required a change in focus of the dual arm technology from that of a development test bed to a system focussed for a specific end user. ORNL teamed with the Idaho National Environmental ,Engineering Laboratory, Sandia National Laboratory, and the Savannah River Technology Center to deliver a crane-deployed derivative of the DAWM, designated the dual arm work platform (DAWP). RTDP staff supported DAWP at CP-5 for one FY; Argonne staff continued operation through to dismantlement of the reactor internals. Lessons learned from this interaction were extensive. Beginning in FY 1999, dual arm development activities are again being pursued in the context of those lessons learned. This paper describes the progression of philosophy of the DAWM from initial test bed to lessons learned through interaction at CP-5 and to the present investigation of telerobotic assist of teleoperation and TSSA- driven robotics
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Manipulator Performance Evaluation Using Fitts' Taping Task
Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperated manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped partici- pants control force during testing
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SS410 Process Development and Characterization
Wire-fed stainless-steel additive manufacturing provides the potential for an
alternative to traditional stainless-steel tool making processes. 410 stainless steel
provides the necessary hardness for long term tool use and its corrosion resistances
negates the need for post processing of non-critical faces. 410 has unique
characteristics that require different design and welding parameters from other
materials. This paper will look at the parameters and characteristics to expect when
using wire-arc deposition for 410 stainless steel. Individual weld beads and simple
geometric features were printed using the mBAAM wire-arc system at ORNL to
determine effective wire-arc parameters for SS410. Once parameters were chosen,
additional features were printed to determine the geometric characteristics of printed
SS410 as well as compare the differences between designed geometries and printed
geometries. These results allow for the formulation of smarter design rules when
designing parts for SS410 additive manufacturing.Mechanical Engineerin
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Large Scale Metal Additive Techniques Review
In recent years additive manufacturing has made long strides toward becoming a main stream production
technology. Particularly strong progress has been made in large-scale polymer deposition. However, large scale
metal additive has not yet reached parity with large scale polymer. This paper is a survey of the metal additive
techniques in the context of building large structures. Current commercial devices are capable of printing metal
parts on the order of several cubic feet compared to hundreds of cubic feet for the polymer side. In order to
follow the polymer progress path many factors must be considered—potential to scale, economy, environment
friendliness, material properties, feedstock availability, robustness of the process, quality and accuracy,
potential for defects, and post processing as well as potential applications. This paper focuses on current state
of art of large scale metal additive technology with a focus on expanding the geometric limits.Mechanical Engineerin