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DOI	10.2172/10170290
Title	System safety analysis of an autonomous mobile robot
Creator/Author	Bartos, R.J.
Publication Date	1994 Aug 01
OSTI Identifier	OSTI ID: 10170290; Legacy ID: DE94015815
Report Number(s)	FEMP--2341; CONF-9407104--1
DOE Contract Number	AC05-92OR21972
DOI	10.2172/10170290
Other Number(s)	Other: ON: DE94015815; BR: 35EW00000/35EW20100; TRN: TRN: AHC29418%%4
Resource Type	Technical Report
Specific Type	Numerical Data
Resource Relation	Conference: 12. international system safety conference,New Orleans, LA (United States),5-10 Jul 1994; Other Information: PBD: [1994]
Research Org	Fernald Environmental Restoration Management Corp., Cincinnati, OH (United States). Fernald Environmental Management Project
Sponsoring Org	USDOE, Washington, DC (United States)
Subject	42 ENGINEERING; 11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS; 12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; OHIO; FEED MATERIALS PRODUCTION CENTER; STORAGE FACILITIES; INSPECTION; ROBOTS; SAFETY ANALYSIS; RADIOACTIVE WASTE STORAGE; REMEDIAL ACTION; HAZARDOUS MATERIALS; ELECTRONIC GUIDANCE; RISK ASSESSMENT; REMOTE VIEWING EQUIPMENT; DESIGN; EXPERIMENTAL DATA
Description/Abstract	Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate{trademark} robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA{copyright}) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection.
Country of Publication	United States
Language	English
Format	Size: 67 p.
Availability	INIS; OSTI as DE94015815; Paper copy available at OSTI: phone, 865-576-8401, or email, reports@adonis.osti.gov To purchase this media from NTIS, click here
System Entry Date	2007 May 14
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