An Experiment in Mobile Robotic Cooperation
This paper describes the results of an experiment in real mobile robot cooperation which utilizes a fully distributed, cooperative software mechanism we have previously developed in simulation....
This paper describes design and analysis efforts to develop a new reconfigurable and collapsible working machine, dubbed Houdini, to remotely clean up hazardous-waste and petroleum storage...
An Overview of the Accident Response Mobile Manipulation System (ARMMS)
The development of a high mobility platform integrated with high strength manipulation is under development at Sandia National Laboratories. The mobility platform used is a High Mobility...
Generic Data Acquisition System for Robotic Waste Characterization
This paper describes a generic data acquisition system for robotic characterization of DOE production facilities and waste sites. While the specific suite of characterization sensors on...
Feasibility Analysis of Automated Material Handling for Hazardous Waste Remediation
The application of automation and robotics to material handling activities in conventional construction has been extensively researched in terms of technical feasibility, needs identification,...
Robotic Workcell for Waste Handling
During the sorting and repackaging of recovered waste, robotic systems for grasping and manipulating odd-shaped objects of varying sizes will be needed. Also, during the removal of buried...
Automation Concepts for In-Situ Waste Containment
The isolation of chemical and radioactive contaminants from groundwater supplies is a topic of increasing concern and urgency. In-situ containment of hazardous wastes is preferable if...
Robotic Options for Mining of Near-Earth Objects
The mining and processing of a Near-Earth Object (NEO) should be as simple and as robust as possible - the fewer processes and parts the better. Reliability and survivability of the total...
Reduction, Reuse, and Recycling on a Future Lunar Base
The paper addresses the waste management problems on Earth as they relate to a future lunar base and suggests measures to prevent these problems from occurring in the base. Offensive action...
Biosphere II - Its Effects on Space Colonization
In the middle of the Arizona desert, a strange sight can be seen. A small world with ecosystems and different climate zones, just like Earth, is enclosed in glass and steel. The 3.15 acre...
Living in Space
Living in space will be the key project for the survival of the human species in the future. The world is becoming more polluted, suffering under the lack of living space, and if people...
Taking Trash Out of Hiding
Out of sight, out of mind has been the country's solid waste mind-set. But when the $18 million Phoenix Solid Waste Management Center becomes fully operational in April, visitors...
Assessing Effects for Disposal Sites off San Francisco
A simple particle tracking model has been used to estimate the size of deposition footprints and transient turbidity effects in the water column resulting from disposal of dredged material...
The Politics of Nuclear-Waste Disposal
Spurred by federal and state legislation recommending local disposal of low-level radioactive nuclear waste, the Illinois-Kentucky Compact announced plans in the mid 1980s to build a disposal...
Rehabbing for Remediation
Workers for Moses Lake detected trichloroethylene (TCE) in three of the city's water wells. The concentrations were low, around 5 to 15 parts per billion, just above the maximum...
Federal Cleanups: Good News from Bad
Since the end of the Cold War the news about the Department of Energy has been grim: Thousands of acres poisoned with radioactive and toxic wastes, massive cleanup cost overruns due to...
Application and Benefits of Aquifer Recharge in Santa Fe, New Mexico
The Sangre de Cristo Water Company (SDCW) operates a water supply and treatment system that serves the City of Santa Fe, New Mexico, Water is supplied to the system by the City Well Field,...
Modeling Municipal Water Demands for a Pump Station Area
The Chasewood Pump Station/Residential Area in southwest Houston was selected for a detailed analysis of ground and surface storage water pumping by a University of Houston and City of...
Groundwater Management and Systems Operations Optimization Utilizing Supply, Well Reliability, and Demand Distribution as Decision-Making Criteria
Houston, Texas has a water supply system comprised of both ground and surface water sources serving a population of 2.2 million people through 5,000 miles of water lines and 357,000 water...
Agricultural Infrastructure for Urban Irrigation
The Salt River Project (SRP) began as a provider of water for agricultural irrigation. Now most of the lands are urban and receive water distributed by municipalities at high-cost drinking...
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