The Pit Viper is a tele-operated system intended to enhance worker safety while simultaneously improving the efficiency of pit operations at the Hanford Site. Commercial off-the-shelf (COTS) components were used in an attempt to increase system efficiency. During preparation for initial deployment, the Pit Viper team identified multiple areas where more advanced technology offers substantial improvement in system capabilities. The team also ensured that the system as is, was capable of fulfilling its mission. However, there are valid concerns of the reliability of the technology. Areas where improvement are desired include; operator feedback, manipulator dexterous envelope, and system reliability.
Revised: April 26, 2007 |
Published: May 11, 2002
Citation
Catalan M.A., S.A. Bailey, J.M. Alzheimer, and D.P. Niebuhr. 2002.Lessons Learned from Pit Viper Integration into Hanford Tank Farm Reality. In Proceedings of the 2002 IEEE International Conference on Robotics and Automation, May 11 -15, 2002, Washington, D.C., 4, 3479-3484. Piscataway, New Jersey:Institute of Electrical and Electronics Engineers.PNNL-SA-35540.doi:10.1109/ROBOT.2002.1014249