Collision Avoidance

DOE-HDBK-6004-99

All systems should be operable in the operational modes of less sophistication than their normal mode.

For example, robotic systems should also be operable telerobotic, etc. This requirement is to

facilitate recovery from off normal or unanticipated events without personnel entry.

Programmed assistance should be provided in the form of graphics based work cell modeling, or

similar, coupled to the movements of any automated system. This should display the location of all

known obstacles or objects within a work cell and the present location of the remote system. The

control systems should display all programmed motions in the modeled environment, in real time, with

display before movement capabilities. This will allow all actions to be tested before operations are

started.

Collision Avoidance

The most desirable mode of operation is with active system control to prevent operation in areas of

exclusion. In this type of operation, the control system portion of a robotic, telerobotic, or

teleoperational system will intervene when commands (either manual or programmed) direct a system

into a predetermined exclusion area. The environment can be either statistically modeled, when

unchanging, or actively modeled, when dynamic. The active modeling can be vision based, structured

light sensed, or similar.

The control system should be the primary means of obstacle avoidance. Active sensors on systems

should also be provided where needed to avoid high damage potential collisions.

Multiple Remote Device Coordination

Multiple remote handling systems in the same or overlapping workspace(s) are anticipated. All such

systems should have coordinated motions, to prevent their direct interaction. When two systems have

an interaction potential, one system will be designated as the lead and the other the follower.

Swing Free Crane Technology

The development of "swing free" technology for cranes or crane systems has been sufficiently

demonstrated as having significant economic payback on any crane like system. It should be provided

for all remote handling facilities, for which it is appropriate.

Retrieval Requirements

Redundancy of Critical Controls.

All remote handling system controls that, on failure, can cause either (1) a system to perform

unintended motions, or (2) a system to fail in a non-recoverable mode, should be redundant, to

prevent a common mode failure. This requirement is in addition to normal emergency stops. etc.,

which required a personnel intervention to be effective.

Remote Release

Remote handling systems must be provided with provision to safely release from highly hazardous

loads or materials, in the event of other system failures.

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