Energy Technology Data Exchange (ETDEWEB)

Autonomous robots or remotely operated vehicles have raised high hopes in the military and industrial communities because of the potential safety improvement and gain of productivity they may provide. Waste management on nuclear sites, pallet manipulation in factories, interventions on battle-fields, etc., are actively studied. A lot of these applications require powerful four-wheel vehicles, the kinematics of which is similar to that of a car. Such vehicles have three degrees of freedom: the (x,y) positions in a plane and the orientation of the vehicle. Path planning is often understood as only changing the position of the vehicle, whereas the tasks performed by this kind of robot requires a perfect orientation of the vehicle: forklifting a pallet or docking at a loading or unloading station requires accuracy in the orientation of the vehicle. It is this requirement and the kinematic constraints of the motion mode which have led to the ...

Energy Technology Data Exchange (ETDEWEB)

A seaport simulation model, PORTSIM, has been developed for the Department of Defense (DOD) at Argonne National Laboratory. PORTSIM simulates the detailed processes of cargo loading and unloading in a seaport and provides throughput capability, resource utilization, and other important information on the bottlenecks in a seaport operation, which are crucial data in determining troop and equipment deployment capability. There are two key problems to solve in developing the HLA-compliant PORTSIM model. The first is the cargo object ownership transfer problem. In PORTSIM, cargo items, e.g. vehicles, containers, and pallets, are objects having asset attributes. Cargo comes to a seaport for loading or unloading. The ownership of a cargo object transfers from its carrier to the port and then from the port to a new carrier. Each owner of the cargo object is responsible for publishing and updating the attributes of the cargo object when it has the ownership. This creates a ...

Energy Technology Data Exchange (ETDEWEB)

When completed, Lawrence Livermore National Laboratory's (LLNL) National Ignition Facility (NIF) will be the world's largest laser with experimental capabilities applicable to stockpile stewardship, energy research, science and astrophysics. As construction of the conventional facilities nears completion, operations supporting the installation of specialized laser equipment have come online. Playing a critical role in the precision cleaning of mechanical parts from the NIF beamline are three pieces of aqueous cleaning equipment. Housed in the Optics Assembly Building (OAB), adjacent to NIF's laser bay, are the large mechanical parts gross cleaner (LMPGC), the large mechanical parts precision cleaner (LMPPC), and the small mechanical parts gross and precision cleaner (SMPGPC). These aqueous units, designed and built by Sonic Systems, Inc., of Newtown, Pennsylvania, not only accommodate parts that vary greatly in size, weight, geometry, surface finish and ...