Robotics and Remote Systems

An Overview

Adam Carroll Adam Aaron Gordon Williams

Robotics vs. Remote Systems • My group specializes in Remote Systems, which can

include the use of robots.

• Define the difference… –  According to Robotics Industries Association: “A robot is a

reprogrammable multifunction manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.

–  Remote systems, is the manipulation of hazardous material, parts, tools through mechanical means or programmable devices.

Presentation Overview

• History of Remote Systems • Robotics at ORNL • Where robots are really used •  Future of robotics

History of Robotics

A long time ago in a galaxy far far away…

There  were  robots!  

But, Here on Earth

•  US remote systems development started at ORNL with the Manhattan Project (1942-46). • With the goal to create distance between

people and hazardous radiation. –  But why?

Two Ways to Protect People

Distance and Shielding

• Distance –  Imagine being in a dark room with one light bulb, as you move

away from the light less of the light hits you. This same principle is true for radiation.

Distance

•  To achieve distance from the radioactive source, long poles with a hook or impact wrench provide a good method of protecting personnel •  This method is still used today

Distance and Shielding

• Shielding –  Concrete, steel, lead, even water can protect you from radiation

Shielding

• Shield allows personnel to be closer to a hazard, but now what??? •  Through-the-wall

manipulators were developed • Purely mechanical

systems composed of gears, metal tapes, and wires.

Through-the-Wall Manipulator •  This technology is used today at ORNL and other

research facilities around the world • Capable of complex motion

Hot Cell Design (small cell)

• A Hot Cell is a shielded room that contains radioactive material and/or contamination •  Through-the-wall

manipulator are excellent for small cells that require dexterous handling • However, the range

is limited • What if the cell

needs to be larger?

Through-­‐the-­‐Wall  Manipulators  

•  Small cell •  Dexterous handling •  Light capacity

Range  of  each  manipulator  arm  

Technician  

Manipulators  

Power Arm

• Next step in remote system is the power arm • Each dial connected to one motor on the power arm • Slow to operate, must carefully plan handling operation

Hot Cell Design (large cell)

• Power arm typically mounted on a bridge crane and telescoping tube set • Allows for access all

over the cell

•  Large cell •  Slow handling •  High capacity possible

Bridge  Crane  Technician  

Switch  Control  Box  

TV  Monitors  

Power  Arm  

Power Arm •  Today power arms are commonly used by bomb squads

Power Arm + Computer = Robot

•  The industrial robot was invented in the 1950s by Joseph Engelberger and George Devol. •  First applied to a GM

automotive die casting assembly line in 1961/62 •  The age of robot

manufacturing begins!

Robotic Manufacturing

Through-the-Wall Manipulator + Power Arm ~= Servomanipulator

•  Through-the-wall manipulators have dexterity but limited operational range • Power Arms can operate remotely, but slow to control •  The servomanipulator provides the dexterity and the range.

All  Digital  

Servomanipulators

•  Use a series of servo-motors on both the Master and the Manipulator. •  A servo-motor has a position sensor –  As the Master moves the motors on the Manipulator side match the

position of the Master. •  The operator does not need to pay attention to individual joints,

like with power arms, but focus on the remote handling task.

Servomanipulator

Servomanipulator Deployed at Spallation Neutron Source

•  Dual arm, mirror configuration •  Digital Control •  Force Reflecting •  Force Ratio Control 2:1 up to 20:1 •  55 lbf (25 kg) continuous /100 (45 kg) lbf peak capacity

SNS Control Room

•  The servo master station and attendant video systems are co-located with the bridge and cell utility control systems to unify operations.

•  Interconnected bridge, video, and audio controls at each window workstation are also required to facilitate efficient operator interface

History Outside of ORNL…

• Robotics is a huge field that has interesting beginnings… The  Tortoise  invented  by  Grey  Walter  •  Light  sensors,  touch  sensors,  propulsion  

motor,  steering  motor,  and  two  vacuum  tube  analog  computers  (amazing  the  computer  could  be  sized  this  small)  

•  AutomaIcally  moved  towards  light  and  away  aJer  physically  contacIng  an  obstacle  

•  Reac8ve  behavior  

History Outside of ORNL…

• Stanford Research Institute developed the first general-purpose mobile robot • Able to reason about its

own actives • Communicated remotely

with massive computer • Deliberative AI

Outside of ORNL…

• Robots of all types have been invented… • Anthropomorphic • Animal-like • Unmanned vehicles •  Industrial •  Future

Anthropomorphic Robotics

•  Looks and functions like a human • Creepy factor

Animal-Like Robots

Robot  Eel  

Big  Dog  

Snake  Robots  –  Yeah,  just  like  the  eel  but  can’t  go  in  water!  

Unmanned vehicles

Google’s  driverless  car,  plus  it  gets  good  gas  mileage.  

Military  UAVs  

Quadrotor  –  The  UAV  for  the  everyone    

Industrial Robotics

Common  Industrial  Robot  Skilled  technician  required  to  program   Baxter  –  teach  and  repeat  robot  

Easy  to  program  and  implement  

Future Robotics

•  Lower cost • Easier to program • More capable • More common

• But only time will tell…

What Now?

If you want a future in robotics! Here are a few things you should do...

1. Right Now

•  Take Physics • Do well in your math classes •  Join FIRST Robotics

2. College

•  Few colleges offer a degree in robotics engineers so, select a degree in… –  Mechanical engineering –  Electrical engineering –  Computer programing –  Industrial engineering –  Systems engineering –  Computer science

3. Internships

• While in college take internships over the summers with companies or organizations that work in the field of robotics you are interested in. •  https://www3.orau.gov/ORNL_TOppS/ • ORNL takes ~300 interns each summer –  SULI –  HERE –  NESLS

4. You found a career!

Robotics is not just a job… it is a career with an excellent future.

Any Questions?