Year
1992
Abstract
Detection, characterization, and excavation of buried objects and materials are important steps in the restoration of subsurface disposal sites. The U.S. Department of Energy (DOE), through its Buried Waste Robotics Program, is developing a Remote Characterization System (RCS) to address the needs of remote subsurface characterization and, in a joint program with the U.S. Army, is developing a teleoperated excavator. Development of the RCS is based on recent DOE remote characterization testing and demonstrations performed at Oak Ridge National Laboratory and Idaho National Engineering Laboratory. The RCS, which will be developed and refined over a two- to three-year period, is designed to (1) increase safety by removing on-site personnel from hazardous areas, (2) remotely acquire real-time data from multiple sensors, (3) increase cost-effectiveness and productivity by partial automation of the data collection process and by gathering and evaluating data from multiple sensors in real time, and (4) reduce costs for other waste-related development programs through joint development efforts and reusable standardized subsystems. For retrieval of characterized waste, the Small Emplacement Excavator, an existing U.S. Army backhoe that is being converted to teleoperated control, will be used to demonstrate the feasibility of retrofitting commercial equipment for high-performance remote operations.