Selective retrieval of buried waste using mobile robot manipulator systems

Hazardous operations which involve the dextrous manipulation of dangerous materials in the field have, in the past, been completed by technicians. Use of humans in such hazardous operations is under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. Remote systems are needed to accomplish many tasks such as the clean up of waste sites in which the exposure of personnel to radiation, chemical, explosive, and other hazardous constituents is unacceptable. Traditional remote manual field operations have, unfortunately, proven to have very low productivity when compared with unencumbered human operators. Recent advances in the integration of wars and computing into the control of remotely operated equipment have shown great promise for reducing the cost of remote systems while providing faster and safer remote systems. This paper discusses applications of such advances to remote field operations