Applying interactive control to waste processing operations

At present waste and residue processing includes steps that require human interaction. The risk of exposure to unknown hazardous materials and the potential for radiation contamination motivates the desire to remove operators from these processes. Technologies that facilitate this include glove box robotics, modular systems for remote and automated servicing, and interactive controls that minimize human intervention. LLNL is developing an automated system which is designed to supplant the operator for glove box tasks, thus protecting the operator from the risk of radiation exposure and minimizing operator-associated waste. Although most of the processing can be automated with minimal human interaction, there are some tasks where intelligent intervention is both desirable and necessary to adapt to Enexpected circumstances and events. These activities require that the operator interact with the process using a remote manipulator which provides or reflects a natural feel to the operator. The remote manipulation system which was developed incorporates sensor fusion and interactive control, and provides the operator with an effective means of controlling the robot in a potentially unknown environment. This paper describes recent accomplishments in technology development and integration, and outlines the future goals of Lawrence Livermore National Laboratory for achieving this integrated interactive control capability