SUMMARYHERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.

The small emplacement excavator (SEE) is a ruggedized military vehicle with backhoe and front loader used by the U.S. Army for explosive ordnance disposal. (EOD), combat engineer, and general utility excavation activities. In order to evaluate the feasibility of removing personnel from the vehicle during high risk EOD excavation tasks a development and demonstration project was initiated to evaluate performance capabilities of the SEE under telerobotic control. This feasibility study was performed at the request of the Ordnance Missile and Munitions Center and School (OMMCS) at the Redstone Arsenal to help define requirements for further joint service development activities. Development of a telerobotic SEE (TSEE) was performed by the Oak Ridge National Laboratory (ORNL) in a project funded jointly by the U.S. Army Project Manager for Ammunition Logistics (PM-AMMOLOG) and the Department of Energy (DOE) Office of Technology Development (OTD) Robotics Technology Development Program (RTDP). The TSEE features teleoperated driving, a telerobotic backhoe with four degrees-of-freedom, and a teleoperated front loader with two degrees-of-freedom on the bucket. Remote capabilities include driving (forward, reverse, brake, steering), power takeoff shifting to enable digging modes, deploying stabilizers, excavation and computer system booting. The system is operated with an intuitive hand controller at a remotely located portable, suitcase-size base station or can be operated manually using a customized electromechanical actuator package to replace the conventional mechanical levers and foot pedals. • A technology demonstration of the TSEE was conducted at McKinley Range, Redstone Arsenal, Huntsville, Alabama, on September 13-17, 1993. The primary • objective of the demonstration was to evaluate and demonstrate the feasibility of remote EOD. During the demonstration, approximately 40 EOD specialists were instructed on telerobotic operation of the TSEE and then were asked to complete a series of simulated EOD tasks. Upon completion of the tasks, participants completed an evaluation of the system including human factors performance data. Analysis of the human factors performance data indicates that 70% of the demonstration participants found the tasks were as easy or easier to accomplish utilizing the remote system than an unmodified system. Similarly, 80% of the participants found the TSEE hand controller was as easy or easier to use than the normal manual controls. Nearly 70% of participants found that the Graphical User Interface (GUI) provided all the information they needed. Camera usage varied significantly among demonstration participants, on average, the middle TV camera, mounted on the backhoe boom, was used the most, followed closely by the GUI animated backhoe display.

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The remediation of single-shell radioactive waste storage tanks is one of the urgent tasks of the Depamnent of Energy that challenge state-of-the-art equipment and methods. The use of long-reach manipulators is being seriously considered for this remediation task Because of high payload capacity and high length-to-cross-section ratio requirements, these long-reach manipulator systems * Research sponsored by the Office of Technology Development, U.S. Department of Energy, under contract DE-AC05-840R21400 with Martin Marietta Energy Systems, Xnc. schemes. The development of a TWRMS may be one of DOEs most significant robotics projects.

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