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DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS
Citation:
Rancatore, R. J. AND M. L. Philips. DEMONSTRATION OF AUTONOMOUS AIR MONITORING THROUGH ROBOTICS. U.S. Environmental Protection Agency, Washington, DC, EPA/600/2-89/055 (NTIS PB90-134164), 1989.
Description:
Hazardous and/or tedious functions are often performed by on-site workers during investigation, mitigation and clean-up of hazardous substances. These functions include site surveys, sampling and analysis, excavation, and treatment and preparation of wastes for shipment to chemical disposal sites. Many times, people working in the "hot zone" must leave their primary work on a frequent basis to perform the tedious task of monitoring the air at the perimeter of the clean-up site. The project objective was to demonstrate the potential usefulness of air sampling (monitoring) utilizing a commercially available, field compatible robot with minimum modification. This project included modifying an existing teleoperated robot to include autonomous navigation, large object avoidance, and air monitoring and demonstrating that prototype robot system in indoor and outdoor environments. The prototype robot system successfully performed each of its required tasks.