A111Q3 BfiTtiD?

I l^^^r United States Department of Commerce

I ^1 1 National Institute of Standards and Technology

PUBLICATIONS*

NIST Special Publication 784

DOE/NIST Workshop on Common

Architectures for Robotic Systems

Richard Quintero, Editor

QC

100

.U57

1990

C.2
NATIONAL INSTITUTE OF STANDARDS 8c

TECHNOLOGY

Research Informatm Center

Gaithersburg, MD 20899

DATE DUE

Demco, Inc. 38-293
NIST Special Publication 784

DOE/NIST Workshop on Common

Architectures for Robotic Systems

Richard Quintero, Editor

Robot Systems Division

National Institute of Standards and Technology

Gaithersburg, MD 20899

Sponsored by:

U.S. Department of Energy

Washington, DC 20505

April 1990

U.S. Department of Commerce

Robert A. Mosbacher, Secretary

National Institute of Standards and Technology

John W. Lyons, Director
National Institute of Standards U.S. Government Printing Office

and Technology Washington: 1990

Special Publication 784

Natl. Inst. Stand. Technol.

Spec. Publ. 784

154 pages (Apr. 1990)

CODEN: NSPUE2

For sale by the Superintendent

of Documents

U.S. Government Printing Office

Washington, DC 20402
ABSTRACT

At the request of the Department of Energy's (DOE's) Office of Technology Development the

National Institute of Standards and Technology (NIST), Robot Systems Division organized and

hosted this first DOE/NIST Workshop on Common Architectures for Robotic Systems. The

Workshop was held at the Marriott Hotel in Gaithersburg, Maryland, on January 30-31, 1990.

This workshop had three goals:

(1) An initial review of the methodologies currently used by the DOE sites for development and

maintenance of software related to robotic and remote systems.

(2) Presentations by representatives of other government agencies on lessons learned in the

development of common architectures for robotic and remote systems.

(3) A preliminary assessment of the methodology necessary to arrive at a DOE common

architecture.

DOE sponsored this workshop as a first step toward considering the potential roles and benefits

that common robotic architectures could play in fulfilling DOE's Environmental Restoration and

Waste Management (ER&WM) robotic technology program objectives. NIST hosted the workshop

as a means of promoting robot technology advancement and technology transfer through the

development of voluntary standards and guidelines.

KEY WORDS: control system architectures; intelligent machines; real-time control systems; robot

control systems; robotic standards; robotics; teleoperation

Certain commercial equipment, instruments, or materials are identified in this paper in order to

facilitate understanding. Such identification does not imply recommendation or endorsement by the

National Institute of Standards and Technology, nor does it imply that the materials or equipment

identified are necessarily the best available for the purpose.

iii
i
CONTENTS

INTRODUCTION 1

LIST OF PARTICIPANTS 2

WORKSHOP AGENDA 4

WORKSHOP QUESTIONS 6

WORKSHOP RECOMMENDATIONS 7

GROUP 1 PRESENTATION 13

GROUP 2 PRESENTATION 14

GROUP 3 PRESENTATION 15

FIRST DAY PRESENTATIONS 19

V

INTRODUCTION

At the request of Dr. Clyde Frank of the Department of Energy's (DOE's) Office of Technology

Development the National Institute of Standards and Technology (NIST), Robot Systems Division

organized and hosted this first DOE/NIST Workshop on Common Architectures for Robotic

Systems. The Workshop was held at the Marriott Hotel in Gaithersburg, Maryland, on January SCSI, 1990.

This workshop had three goals:

(1) An initial review of the methodologies currently used by the DOE sites for development and

maintenance of software related to robotic and remote systems.

(2) Presentations by representatives of other govemment agencies on lessons learned in the

development of common architectures for robotic and remote systems.

(3) A prehminary assessment of the methodology necessary to arrive at a DOE common

architecture.

DOE's Office of Technology Development sponsored this workshop as a first step toward

considering the potential roles and benefits that common robotic architectures could play in

fulfilling DOE's Environmental Restoration and Waste Management (ER&WM) robotic technology

program objectives. Potential benefits of common architectures include allowing robotic

developments to be shared among DOE sites, thus lowering overall program costs, improving

system reliability and maintainability, and accelerating technology insertion.

NIST's Robot Systems Division has been working in the area of sensory interactive control of

intelligent machine systems for a number of years and is interested in promoting robotic technology

advancement and technology transfer through the development of voluntary standards and

guidelines.

Participation in this workshop was by invitation and was limited to a small group of DOE, NIST

and other government agency representatives. Twenty-eight (28) people were in attendance. A

follow-on workshop is planned for mid- summer 1990. This workshop will be attended by robotic

technologists from DOE sites and other government agencies. The workshop will be aimed at developing a preliminary strawman of common robotic architecture guidelines which can be

integrated into the DOE National Robotic Technology Development Program (NRTDP). Additional

workshops will be held later in the calendar year, and beyond, to finalize the architectural

guidelines, and to provide information to potential university and industrial participants.

Formal papers were not presented at this workshop. Instead, DOE operations office participants

were asked to make presentations outlining their current software and control system development

and maintenance procedures. Participants from other agencies gave presentations of lessons

learned in similar robotic control system development efforts.

This proceedings includes the list of participants, the agenda for the workshop, a list of questions

used to stimulate discussion in the working groups, a summary of the working group

recommendations, their presentations and reprints of the presentations made during the first day of

the workshop.

1
I

i LIST OF PARTICIPANTS

Workshop on Common Architectures for Robotic Systems \

Marriott Hotel, Gaithersburg, Maryland

January 30-31, 1990

Jim Albus

NIST

Robot Systems Div.

Bldg. 220, Rm. B124

Gaithersburg, MD 20899

301/975-3418

Guy Armantrout

LLNL

P.O. Box 808

Room L-440

Livermore, CA 94550

415/422-1594

Darrell Bandy

Dept. of Energy

Albuquerque (derations Office

P.O. Box 5400

Albuquerque, NM 87115

505/845-5150

Robert Carpenter

NIST/NCSL

Bldg. 223, Room B356

Gaithersburg, MD 20899

301/975-5677

Jim Carter

Westinghouse

Idaho Nuc. Co.

Idaho Falls, ID 83403

Steve Cowan

Office of Waste Operations

EM-30

Department of Energy

Washington, DC 20545

202/353-3956

Patrick Eicker

Sandia Nat'l. Labs

PO. Box 5800

Dept. 1410

Albuquerque, NM 87185

505/846-6329

Mark Evans

Department of Energy

Pacific Northwest Labs.

Battelle Blvd.

Rm. K5-22

Richland, WA 99352

Ken Goodwin

NIST

Robot Systems Div.

Bldg. 220, Rm. B124

Gaithersburg, MD 20899

301/975-3421

Bill Hamel

Oak Ridge Nat'l. Lab.

Oak Ridge, TN 37831-6005

615/574-5691

Raymond Harrigan

Sandia Nat'l. Lab

Intelligent Machines

Systems Div.

Albuquerque, NM 87185

505/844-3004

Frank Heckendom

Westinghouse Savanah Rvr.

Bldg. 773-A

Aiken, SC 29808

808/725-5207

2
Ted Hopp

NIST

Fact. Aut. Sys. Div.

Bldg. 220, Room A127

Gaithersburg, MD 20899

301/975-3545

C. Lee Johnson

Martin Marietta Energy Systems, Inc.

P.O. Box 2003

Oak Ridge, TN 37831-7606

615/435-3121

Gary Kramer

NIST/CAC

Chem. Bldg., Rm. A349

Gaithersburg, MD 20899

301/975-4132

Ron Lumia

NIST

Robot Systems Div.

Bldg. 220, Rm. B-124

Gaithersburg, MD 20899

301/975-3452

Sam Meacham \

Oak Ridge Nat'l. Lab.

RO. Box 2008, 7601

MS 304

Oak Ridge, TN 37831-6304

615/574-7029

Ken Mehlhope

UTC

8725 Camargo Rd.

Cincinnati, OH 45243

513/891-7822

Susan Prestwich

Dept. of Energy

Germantown, MD

301/353-5255

Richard Quintero

NIST

Robot Systems Div.

Bldg. 220, Rm. B124

Gaithersburg, MD 20899

301/975-3456

Steve Ray

NIST

Fact. Aut. Sys. Div.

Bldg. 220, Room A 127

Gaithersburg, MD 20899

301/975-3524

Roger Schappell

Martin Marietta Info. &

Communications Systems

P.O. Box 1260

Denver, CO 80201-1260

303/977-4474

George Schnakenberg

U.S. Bureau of Mines

Cochrans Mill Road

RO. Box 18070

Pittsburgh, PA 15236

412/892-6655

Jim Seydel

EG&G Idaho

RO. Box 1625

Idaho Falls, ID 83415-2214

208/526-6000

Brad Smith

NIST

Fact. Aut. Sys. Div.

Bldg. 220, Room A 127

Gaithersburg, MD 20899

301/975-3558

Clyde Ward

Westinghouse Savanah River

Aiken, SC 29808

808/725-5891

Wayne Winkleman

Westinghouse Hanford

RO. Box 1970, Rm L7-04

Richland, WA 99352

509/376-3339

Homer Yook

Oak Ridge Nat'l. Lab.

RO. Box 2008, Mail Code 6304

Oak Ridge, TN 37831-6304

615/574-9025

3
WORKSHOP AGENDA

WORKSHOP ON COMMON ARCHITECTURES FOR ROBOTIC SYSTEMS

SCHEDULE

Tuesday, January 30, 1990

Late Registration

Objective of This Workshop

Susan Prestwich, DOE - Purpose

Rick Quintero, NIST - Agenda

DOE Environmental Restoration & Waste Management Program

9:20 Steve Cowan, DOE

National Robotics Technology Development Program

9:40 Sam Meacham, ORNL - Applications

10:00 Patrick Eicker, SNL - Technology

10:20 Discussion

10:30 Break

Software Methodologies for Robotic Systems in the DOE Complex

10:45 Clyde Ward, Savannah River Operations Office

1 1 :05 Guy Armantrout, San Francisco Operations Office

1 1 :25 Mark Evans, Richland Operations Office

1 1 :45 Bill Hamel, Oak Ridge Operations Office

12:05 Lunch

1 :30 Jim Seydel, Idaho Operations Office

1 :50 Ray Harrigan, Albuquerque Operations Office

2:10 Discussion

2:30 Break

Lessons Learned, Experiences

2:50 Jim Albus, NIST - NASREM/SARTICS

3:10 Brad Smith, NIST - IGES/PDES

3:30 Roger Schappell, Air Force - NGC

3:50 Discussion

Preparation for Second Day

4:10 Rick Quintero, NIST - Review questions and charge working groups

First Day

8:00

9:00

9:10

4
Second Dav Wednesday, January 31, 1990

Discussion (See list of questions to be discussed')

8:00 Break-up into groups and begin discussions

Development of recommendations

10:30 Develop Recommendations

11 :00 Groups present recommendations

12:00 Lunch

1:30 Adjourn

5
WORKSHOP QUESTIONS

QUESTIONS TO BE ADDRESSED

BY

THE WORKSHOP ON COMMON ARCHITECTURES FOR ROBOTIC SYSTEMS

1 . Why should DOE commit to developing a common open system architecture?

2. What arc the high level functional requirements for an open system architecture?

How important is each requirement and why?

3. How should the DOE develop technical requirements for an open system architecture?

How specific should the requirements be?

4. How should the standards effort be coordinated?

What type of standards committees should be formed?

Who should participate?

What steps should be taken?

What standards organizations should be included and in what capacity?

5. How are such standards tested?

How should new products be verified against the standard?

How should the standard evolve?

6
WORKSHOP RECOMMENDATIONS

The first day of the workshop was devoted to presentations and discussion according to the agenda

included above. Participants were divided equally into three working groups for the second day of

the workshop. Jim Albus lead Group 1, Ray Harrigan lead Group 2 and Bill Hamel lead Group 3.

The groups were assigned to separate meeting rooms and each group was asked to use the

questions included above to stimulate discussion and to guide the development of their

recommendations as follows:

Charge to the Working Groups:

Answer the questions above and develop an outline of a plan for achieving a Common

DOE Architecture. List the steps to be taken, milestones, possible participants and a strawman coordination scheme to initiate and further refme the plan.

At the end of the workshop the groups were reassembled in the main meeting room and each group

presented their comments and recommendations. These presentations were transcribed and are included herein.

Groups 1 and 2 used the supplied questions to stimulate discussion but they did not attempt to

specifically answer each question. Group 3 decided to rephrase the questions and then answer

them in turn. Interestingly even though the groups approached the problem in very different ways

they all converged on similar conclusions and recommendations.

The summary that follows attempts to combine the results produced by the three groups by using

the rephrased questions produced by Group 3 and collecting the comments of all three groups with

reference to each question.

0 . SHOULD DOE/NRTDP PROMOTE GUIDELINES ON COMMON

ARCHITECTURES FOR ROBOTIC SYSTEMS?

CONSENSUS: YES

There was a strong consensus that the DOE environment is best served by a voluntary set

of guidelines in contrast to a rigorous standard. The notion of a rigorous standard which

might specify structural, hardware and software features of robotic system implementations

was considered technologically premature and restrictive. There was concem expressed that a standard might evolve into regulatory specifications. A voluntarily set of guidehnes which

would emphasize methodologies was viewed as a valuable tool which could be used by

DOE sites. This approach would provide robotic technologists with a framework to solve

problems in a common manner, yet remain in a position to utilize the latest technology

advances. Concem was also expressed regarding the current regulatory environment of the

DOE complex and how standards might be used in ways which would restrict technical

options.

7
1 . WHY SHOULD DOE/NRTDP PROMOTE GUIDELINES ON COMMON

ARCHITECTURES FOR ROBOTIC SYSTEMS?

PROS

NEAR-TERM

1 . Guidelines would promote the exchange of technology and resources.

2. Guidelines should help to reduce implementation costs such as systems integration,

training, etc. In short, guideHnes would help make systems development faster, better,

and cheaper.

3 . Guidelines would allow the opportunity to leverage on-going work within DOE and

other Govemment agencies (Navy, NGCR, NGC, NIST). Development of DOE

guidelines might also allow DOE to influence the development of common architectures

in other agencies.

4. Staff resources would be able to focus on solving higher level problems rather than

recreating an infrastructure for each new project. New projects would tend to build on

previous projects and add to a library of software resources. LONG -TERM

5 . DOE guidelines could help to induce commercial standardization of robotic control

systems products.

6. As commercial standards evolve they would promote greater commercial

competition, specialization and assimilation of the best technologies from a host of

companies. Developers and technology users would be able to capitaHze on U.S.

strengths in advanced software development and entrepreneurship.

1 . If the guidelines become mandatory standards they could potentially disrupt ongoing

work or make nonstandard work obsolete.

2 . GuideUnes often become standards (regulations) within DOE which would constrain

research and development at the DOE laboratories and operations sites.

3. Guidelines, if mandatory, could complicate modifications to existing systems.

4. By adopting guidelines (which are treated as mandatory standards in a regulatory

environment) we can stifle movement to new technologies.

8
2. WHAT SHOULD THE CONTENT OF THESE GUIDELINES BE?

HOW IMPORTANT IS EACH REQUIREMENT AND WHY?

Working groups of technologists must be formed to develop the requirements early-on.

The short term goal of the common architecture definition effort should include developing a strawman set of METHODOLOGY GUIDELINES to include the following:

• FUNCTIONAL ARCHITECTURE PHILOSOPHY

• STRUCTURAL DECOMPOSITION "RULES"

• MODULE INTERFACE "PROTOCOLS"

• ROBOT LANGUAGE CONSTRUCTS

The methodology developed should:

• ALLOW LARGE AND SMALL SYSTEM DEVELOPMENT

• SUPPORT INDUSTRY STANDARD TECHNIQUES FOR SYSTEM

DEVELOPMENT AND DOCUMENTATION

• APPLY TO HARDWARE AND SOFTWARE

Guideline development should strive toward:

• COMMON DESIGN AT MODULAR LEVEL SUCH THAT MODULES ARE

INTERCHANGEABLE

• COMMON FAMILY OF HARDWARE COMPONENTS

In the long-term sites with common ER&WM problems should be able to capitaUze on

common software and hardware solutions.

3. WHAT ARE THE FIRST LEVEL RECOMMENDATIONS WHICH COULD BE

FORlVlULATED FOR THESE GUIDELINES?

User working groups should be formed to develop a set of recommended software

development tools, by consensus. The intent of these recommendations would be to

communicate to developers and users a common set of development tools which they could

employ on a voluntary (optional) basis. Tool set recommendations should include:

• PROGRAMMING LANGUAGES

• OPERATING SYSTEMS

• COMPUTER AIDED SOFTWARE ENGINEERING (CASE)

• DOCUMENTATION SYSTEM FORMATS

• HARDWARE (CPUS, BUS)

• THE USE OF COMMERCIAL EQUIPMENT

9
4. HOW SHOULD THE GUIDELINES BE FORMULATED, PROMOTED,

COORDINATED?

WHAT TYPES OF COMMITTEES SHOULD BE FORMED?

WHO SHOULD PARTICIPATE?

WHAT STEPS SHOULD BE TAKEN?

WHAT ORGANIZATIONS SHOULD BE INCLUDED AND IN WHAT CAPACITY?

The Oak Ridge and Sandia Laboratories have been tasked to develop a National Robotics

Technology Development Plan (NRTDP) by the DOE Office of Technology Development.

It was recommended that they be assigned to coordinate the development of the common

architecture guidehnes as part of the NRTDP effort with support from NIST An early

priority for tiie NRTDP team should be to collect DOE robotic system project

requirements from the operations sites (project managers, technical support staff) and the

laboratory technologists.

It was recommended that a task identification team be estabhshed to recommend common

robotic systems solutions in five areas as follows:

• UNDERGROUND STORAGE TANKS

• BURIED WASTE SITES

• DECOMMISSION AND DEMOLITION

• AUTOMATIC LAB ANALYSIS

• HEAVY MACHINERY

The NRTDP team should coordinate the following efforts:

• Collect Project Requirements.

• Identify common ER&WM problems. • Establish Working Groups.

• Develop REV 0 Methodology Guidelines and distribute for comment.

• Coordinate a series of workshops.

• Develop a long term NRTDP strategy encompassing the development of common

architecture guidehnes and a mechanism for maintaining and updating the guidelines.

User working groups should be formed (e.g., DOE SUBWOG Group) to develop a REV 0

preliminary version of the common architecture guidelines to be distributed for comment

preferably before the next workshop (Workshop #2). It was suggested that the group could

meet at Sandia in 2 or 3 months. These working groups should be made up of DOE

technologists from the laboratories and the operations sites.

People from the working groups should be designated as DOE representatives (an on-going

coordinating committee) to attend meetings of other government agency common architecture

bodies (e.g., NGC, NGCR, NIST, BOM, etc.) in order to leverage and influence their

efforts.

10
The coordinating committee should also be cognizant of the activities of existing standards

organizations such as:

• RIA

• ASTM

• IEEE

• ASME

It was suggested that the technical users groups could communicate by using E-MAIL and

through quarterly meetings while they are defining requirements and guideUnes.

5. HOW SHOULD THE GUIDELINES EVOLVEAJPDATE?

The NRTDP team should be assigned to develop a long-term strategy for maintaining,

updating and distributing the common architecture guidehnes.

In the near term it was recommended that a series of workshops be planned in conjunction

with the development of requirements and the development of guidelines as follows:

TIMING: MONTH 0 - January 30-3 1 , 1990

• WORKSHOP #1

IN 3 MONTHS - May 1990

Using a working group of DOE technologists and support from NIST and based on prior

experience as well as current and ongoing projects, the following should be developed:

• STRAWMAN Recommendations

• FIRST-CUT Site requirements and prehminary concepts • Issue PRELIMINARY GUIDELINES

IN 4-6 MONTHS - June-August 1990

Using approximately the same internal people plus NIST, NGC and NGCR

representatives

• WORKSHOP #2 to review first set of concepts

IN 6-8 MONTHS - August-October 1990

Issue for review the results of WORKSHOP #2 and the latest versions of the project

requirements document

IN 8-11 MONTHS - October/90-January/91

Hold a workshop to produce Preliminary Guidelines REV 1

• WORKSHOP #3 include university participants as well as DOE, NIST, NGC and

NGCR participants

11
1

I BEYOND 12 MONTHS - February 91

• WORXSHOP #4 bring in industry participants in addition to university, DOE, NIST, j NGC and NGCR participants i

In the long term any research and development products developed under the NRTDP j (using the common architecture guidelines) must be demonstrated and accepted. This i means that it will be very important to interface with operations site engineering

development group.

12
GROUP 1 PRESENTATION

0. DOE SHOULD IDENTIFY A PREFERRED OPEN SYSTEMS ARCHITECTURE TO BE

APPLIED WHERE APPROPRIATE, I.E., WHERE COMMON PROBLEMS EXIST.

1. WHY?

• FASTER, BETTER, CHEAPER, MORE RELIABLE

• TECH TRANSFER

• SHARE SOLUTIONS - LESSONS LEARNED

• BUILD ENHANCEMENTS

2. WHAT?

METHODOLOGY THAT:

• ALLOWS LARGE AND SMALL SYSTEM DEVELOPMENT

• SUPPORTS INDUSTRY STANDARD TECHNIQUES FOR SYSTEM DEVELOPMENT AND DOCUMENTATION

• APPLIES TO HARDWARE AND SOFTWARE

STRIVE TOWARD:

• COMMON DESIGN AT MODULAR LEVEL SUCH THAT MODULES ARE

INTERCHANGEABLE

• COMMON FAMILY OF HARDWARE COMPONENTS

COMMON SOLUTIONS BRIDGING MULTIPLE SITES SHOULD HAVE COMMON

HARDWARE AND SOFTWARE

3. HOW?

TASK IDENTIFICATION TEAM TO RECOMMEND COMMON SOLUTION

5 AREAS:

• UNDERGROUND STORAGE TANKS

• BURIED WASTE SITES

• DECOM AND DEMOLITION

• AUTO LAB ANALYSIS

• HEAVY MACHINERY

IDENTIFY COMMONALITIES

DEVELOP TECH REQUIREMENTS

4. ESTABLISH ONGOING COORDINATING COMMITTEE OF TECHNICAL WORKING

PEOPLE INCLUDING ALL SITES + OBSERVERS AND ADVISORS

• NIST

• BOM

• ETC.

5. N/A

13
GROUP 2 PRESENTATION

1. OPEN ARCHITECTURES

• NEEDS DEFmrnoN

• AT THIS STAGE THE FOCUS SHOULD BE ON COMMON

• MODULES

• USE OF COMMERCIAL EQUIPMENT

• STANDARD HIERARCHIES

• MULTIPLE

2. GROUP INTERACTIONS

• EXISTING STANDARDS ORGANIZATIONS

• RIA

• ASTM

• IEEE

• ASME

• DOE SUBWOG TYPE GROUPS

• MEET SOON AT SANDIA? (2-3 MOS.)

• TECH GROUP COMMUNICATIONS

• EMAIL

• QUARTERLY MEETINGS

• DEFINE REQUIREMENTS

• ASSIGN GROUP SPOKESMAN TO INTERACT WITH STDS ORGS

• NIST?

• TECH GROUPS(?)

3. GETTING R&D ADOPTED

• R&D MUST DEMONSTRATE TECHNOLOGY

• INTERFACE WITH SITE ENGR. DEVEL. GROUPS

14
GROUP 3 PRESENTATION

QUESTIONS TO BE ADDRESSED

BY

THE WORKSHOP ON COMMON ARCHITECTURES FOR

ROBOTIC SYSTEMS

0. SHOULD DOE/NRTDP PROMOTE GUIDELINES ON COMMON R. ARCHITECTURES?

YES.

1. WHY SHOULD DOE/NRTDP PROMOTE A COMMON OPEN ARCHITECTURE? NEARTERM PROS AND LONG-TERM PROS

NEAR-TERM

NEAR-TERM

NEAR-TERM

PROS

1) PROMOTE EXCHANGE OF TECHNOLOGY/RESOURCES

2) SHOULD REDUCE IMPLEMENTATION COSTS (SYS. INTEGR.,

TRAINING)

3) ALLOWS OPPORTUNITY TO LEVERAGE AND INFLUENCE

ONGOING WORK WITHIN DOE AND OTHER GOV. AGENCIES

(NGCR, NIST, NAVY).

4) IN LONG-TERM, WOULD INDUCE COMMERCIAL

STANDARDIZATION OF ROBOTIC CONTROL PRODUCTS.

5) GREATER COMPETITION, SPECIALIZATION, AND

INCORPORATION OF BEST TECHNOLOGIES FROM A HOST OF

COMPANIES (E.G., CAPITALIZE ON STRENGTHS IN ADVANCED

SOFTWARE AND ENTREPRENEURSHIP).

NEAR-TERM 6) STAFF RESOURCES FOCUS ON SOLVING PROBLEMS RATHER

THAN RE-CREATING INFRASTRUCTURE.

CONS

1) DISRUPTION/OBSOLESCENCE OF ONGOING WORK

2) GUIDELINES OFTEN BECOME REGULATIONS WHICH WOULD

CONSTRAIN R&D AT SITES

3) MAY COMPLICATE MODIHCATIONS TO EXISTING SYSTEMS

4) BY ADOPTING GUIDELINES (WHICH ARE TREATED IN A

"REGULATORY" ENVIRONMENT),WE CAN STIFLE MOVEMENT TO

NEW TECHNOLOGIES.

2. WHAT SHOULD THE CONTENT OF THESE GUIDELINES BE? HOW IMPORTANT IS

EACH REQUIREMENT AND WHY? REQS. NEEDED!

15
3. WHAT ARE THE FIRST LEVEL RECOMMENDATIONS WHICH COULD BE

FORMULATED FOR THESE GUIDELINES?

SHORT TERM

• METHODOLOGY GUIDELINES: • FUNCTIONAL ARCHITECTURE PHILOSOPHY

• STRUCTURAL DECOMPOSITION "RULES"

® MODULE INTERFACE "PROTOCOLS"

© ROBOT LANGUAGE CONSTRUCTS

• RECOMMENDATIONS-TOOLS (OPTIONAL)

USER • PROGRAMMING LANGUAGES

WORKING • OPERATING SYSTEMS

GROUP • COMPUTER AIDED SOFTWARE ENGINEERING (CASE)

• DOCUMENTATION SYSTEM FORMATS

• HARDWARE (CPUS, BUS)

ISSUES/STRATEGY

LONG TERM TM ASSIGN TO NRTDP

• RECOMMENDATION THAT NRTDP HAVE REP ATTEND THESE MEETINGS

{NGC, NGCR, NIST} -- GOALS AND OBJECTIVES

® GET PROJECT REQUIREMENTS

4 . HOW SHOULD THE GUIDELINES BE FORMULATED, PROMOTED,

COORDINATED?

• WHAT TYPE COMMTITEES SHOULD BE FORMED?

• WHO SHOULD PARTICIPATE?

• WHAT STEPS SHOULD BE TAKEN?

• WHAT ORGANIZATIONS SHOULD BE INCLUDED AND IN WHAT

CAPACITY?

PRELIMINARY GUIDELINES FOR CRA - 1ST GENERATION REVO

WHAT? TECHNICAL APPROACH

HOW? ORGANIZATIONAL PERSPECTIVE

SEE GANTT CHART (HGURE 1)

WORKSHOP #2

ATTENDEES: TEC^OLOGISTS

PRCKjRAM/PROJECT KEEPERS

NT: DEVELOP METHODOLOGY GUIDELINES & RECOMMENDATIONS FROM

STRAWMANDEV BY NRTDP (+NIST)

LT: DEVELOP STRATEGY FROM STRAWMAN DEV BY NRTDP (+ NIST, NGC)

16
5 . HOW SHOULX) THE GUIDELINES EVOLVE/UPDATE?

TIMING:

IN 3 MONTHS - INTERNAL TO TECHNOLOGISTS, PRIOR EXP. ONGOING PROJ

• STRAWMAN

• FIRST-CUT SITE REQMTS. AND PRELIM. CONCEPTS

• ISSUE PRE. GUIDELINES

IN 4-6 MONTHS

• WORKSHOP #2

17
'3o

«3 2 i IZl

9i

1^ • < 0^^ o u

E«2^ O .2 .2 5 c P o

«2

SC « <y .S

B OX) o c a;

S5 ^-5u

—

?5

oC

O

© r-(

O rr 00

'•I s©c©

P3

1-f fS

oo« OS OO

OO

Kffi

OS OS OO

18
FIRST DAY PRESENTATIONS

19

PRESENTATION BY SUSAN PRESTWICH

FOR D.O.E./N.I.S.T. WORKSHOP

ON COMMON ARCHITECTURES FOR

ROBOTIC SYSTEMS

1/31/90
I
GOOD MORNING. I APPRECIATE THE OPPORTUNITY TO WELCOME YOU

TODAY TO THIS IMPORTANT WORKSHOP ON COMMON ARCHITECTURES FOR ROBOT

SYSTEMS AND TO CLEARLY IDENTIFY THE ENERGY DEPARTMENT'S

EXPECTATIONS OF WHAT CAN AND SHOULD BE ACCOMPLISHED BY THE END OF

THIS WORKSHOP.

*

FOR THE PAST SEVERAL MONTHS OFFICIALS FROM THE DEPARTMENT OF

ENERGY HAVE BEEN DISCUSSING THE ENVIRONMENTAL RESTORATION AND WASTE

MANAGEMENT 5-YEAR PLAN, AND PARTICULARLY, THE RESEARCH AND

DEVELOPMENT CHAPTER OF THAT PLAN, WITH THE PUBLIC, ACADEMIA,

CONGRESS, AND SELECTED GOVERNMENT AGENCIES. ON EVERY OCCASION WE

HAVE BROUGHT TO THE FOREFRONT THE COUNTRY'S NUCLEAR WEAPONS COMPLEX

AS A PERFECT ILLUSTRATION OF WHAT HAPPENS WHEN WE DON'T ANTICIPATE

LONG-TERM ECONOMICS, UNDERINVEST IN THE FUTURE, AND LOSE SIGHT OF

THE FULL SCOPE OF OUR MISSION.

SO THAT ALL OF US BETTER UNDERSTAND WHY DEVELOPING COMMON

ARCHITECTURES FOR ROBOT SYSTEMS IS CONSIDERED BY THE DEPARTMENT OF

ENERGY TO BE SO IMPORTANT, I WOULD LIKE TO EXPLAIN THE 5-YEAR PLAN

IN A LITTLE GREATER DETAIL.

MOST PEOPLE DO NOT LOOK AT WASTE MANAGEMENT AS AN ATTRACTIVE

TOPIC, BUT THE PROBLEMS CREATED BY THE GENERATION, TREATMENT, AND

DISPOSAL OF WASTE ARE CONFOUNDING THIS NATION—WHETHER IN THE FORM

OF A "BARGE WITHOUT A PORT," DISPOSABLE DIAPERS IN MUNICIPAL

LANDFILLS, OR IN THE DISPOSAL OF HAZARDOUS INDUSTRIAL WASTES.
THE SIMPLE FACT IS THAT WASTE MANAGEMENT IS BOTTOM-LINE

ECONOMICS, BOTTOM-LINE HEALTH PROTECTION. IN THE PAST WASTE

MANAGEMENT WAS THOUGHT OF SIMPLY AS A SERVICE — SOMEONE GENERATES

WASTE AND SOME ELSE TAKES IT AWAY. ECONOMICS WAS NEVER A

CONSIDERATION. TODAY, WE ARE ASKING, "WHAT IS THIS WASTE? HOW

CAN WE STOP ITS GENERATION IN THE FIRST PLACE?" THAT IS

SIGNIFICANT TO THE EVOLUTION OF WASTE MANAGEMENT.

OUR DEPARTMENTAL PLANNING METHODOLOGY RECOGNIZED THE

DIFFICULTY IN HANDLING MIXED WASTE UNDER THE PRESENT-DAY RCRA

REGULATORY FRAMEWORK AND ATTEMPTED TO IDENTIFY A NUMBER OF

ACTIVITIES DESIGNED TO MEET THE SPIRIT AND INTENT OF THE

ENVIRONMENTAL LAWS ENACTED BY CONGRESS AND BY STATE LEGISLATURES.

D.O.E. HAS RESPONDED TO INCREASED AND JUSTIFIED PUBLIC SCRUTINY BY

LIFTING THE "VEIL OF SECRECY" AND OPENING ITS DEFENSE FACILITIES

TO STATE REGULATORS. THE DEPARTMENT IS UNDERWRITING A SIGNIFICANT

PORTION OF THE COSTS ASSOCIATED WITH THE STATE MONITORING OF

D.O.E. 'S ENVIRONMENTAL COMPLIANCE. I BELIEVE THE DEPARTMENT OF

ENERGY IS GOING TO PLAY A SIGNIFICANT ROLE IN FINDING SOLUTIONS TO

MANY OF THE WASTE MANAGEMENT PROBLEMS THAT CONFOUND THIS NATION.

WE HOPE TO BRING A NEW LEVEL OF UNDERSTANDING AND KNOWLEDGE TO

THESE PROBLEMS. THROUGH D.O.E. INFORMATIONAL SEMINARS WE HAVE

PROVIDED TECHNICAL DATA TO THE PUBLIC AND OTHERS LONG-CONSIDERED

ADVERSARIAL TO D.O.E. 'S WEAPONS PRODUCTION MISSION IN THE

DEVELOPMENT OF ITS NEAR-TERM PLANS FOR ENVIRONMENTAL CLEANUP,
COMPLIANCE, AND WASTE MANAGEMENT. WE WELCOME THIS LONG-OVERDUE

CHANGE AND VIEW IT AS A KEY ELEMENT TO REGAINING PUBLIC CONFIDENCE

IN OUR ABILITY TO OPERATE THESE NUCLEAR FACILITIES SAFELY. IT IS

ONLY WITH COMPLETE KNOWLEDGE AND ADEQUATE INFORMATION THAT WE CAN

EXPECT THE PUBLIC TO SATISFACTORILY UNDERSTAND THE PROBLEMS, OR

RISKS, THAT FACE OUR NATION. BUT WE CAN'T DO IT ALONE. WE ALSO

NEED YOU — THE SCIENTISTS AND TECHNOLOGISTS — TO HELP US APPLY

NEW AND INNOVATIVE TECHNOLOGIES TO THESE PROBLEMS.

THE DEPARTMENT'S WASTE MANAGEMENT PROGRAM IS BEST

CHARACTERIZED IN ITS 5-YEAR PLAN AND, PARTICULARLY, THE R&D CHAPTER

OF THE PLAN. JUST LAST MARCH THE SECRETARY PROMISED CONGRESS THAT

HE WOULD DELIVER A COMPREHENSIVE PLAN OUTLINING SPECIFIC ACTIONS

D.O.E. INTENDS TO UNDERTAKE OVER THE NEXT 5 YEARS TO ACHIEVE

COMPLIANCE WITH FEDERAL ENVIRONMENTAL LAWS AND TO BEGIN TO CLEAN

UP AND RESTORE THOSE SITES THAT WE HAVE CONTAMINATED OVER THE PAST

4 0 YEARS.

PUBLISHED LAST AUGUST, THE DEPARTMENT'S ENVIRONMENTAL

REST0R7iTI0N AND WASTE MANAGEMENT 5 -YEAR PL3VN CONTAINS THE FRAMEWORK

FOR D.O.E. TO CHARACTERIZE, PRIORITIZE, AND CONSOLIDATE CLEANUP

ACTIVITIES AT EVERY SITE. IMMEDIATE PROBLEMS WILL BE CONFINED AND

CORRECTED. THE PRIORITIES OF A 3 0-YEAR CLEANUP EFFORT WILL BE

BASED ON CREDIBLE SCIENCE AND TECHNOLOGY AND, HOPEFULLY, ON NEW

NATIONAL STANDARDS THAT FINALLY RESOLVE THE DILEMMA WE FACE TODAY

REGARDING "HOW CLEAN IS CLEAN?" WE ARE ALREADY HARD AT WORK WITH
STATES AND E.P.A. WE BELIEVE THIS PROCESS WILL HELP TO REESTABLISH D.O.E'S CREDIBILITY WITH CONGRESS, THE AMERICAN PUBLIC,

AND REGULATORY BODIES AT BOTH THE FEDERAL AND STATE LEVELS.

D.O.E. RECENTLY RELEASED A SEPARATE CHAPTER TO THE 5 -YEAR PLAN

FOR RESEARCH, DEVELOPMENT, DEMONSTRATION, TESTING AND EVALUATION

ACTIVITIES. THE R&D PLAN ILLUSTRATES A REAL EFFORT TO GET RESULTS

FROM RESEARCH AND TECHNOLOGY DEMONSTRATIONS WITHIN A TIMETABLE THAT

IS DRIVEN BY A "HARD" ASSESSMENT OF NEED AND RISK. BY THE TERM

"NEED-DRIVEN," I MEAN THAT THE BASIC NEED IS TO SOLVE A PROBLEM,

NOT RELOCATE IT. WE MUST KNOW HOW WE CAN SEGREGATE, SEPARATE, AND

ISOLATE HAZARDOUS COMPONENTS. DECISIONS WILL BE MADE ON THE BASIS

OF PERFORMANCE AND RETURN ON EACH DOLLAR SPENT. THE SCIENTIFIC/

INDUSTRIAL COMMUNITY IS CERTAINLY CAPABLE OF IDENTIFYING THESE

KINDS OF RETURNS, AND WE WILL BUILD A METHODOLOGY THAT APPLIES

TOUGH COST/BENEFIT CRITERIA TO ALL WASTE-RELATED R&D. WE HAVE THE

CAPABILITY TO INCORPORATE INDUSTRY AND PEER ACADEMIC INPUT TO

DETERMINE WHAT IS REALLY USEFUL AND ACHIEVABLE, SO WE WILL NOT

WASTE TIME ON EVALUATING COMPETING PROPOSALS THAT HAVE LIMITED

VALUE

.

I BELIEVE D.O.E. 'S 5-YEAR PLAN AND ITS RESEARCH COMPONENT —

AND THE SITE IMPLEMENTATION PLANS THAT ARE BEING PREPARED NOW BY

EACH MAJOR D.O.E. FIELD OFFICE — WILL PROVIDE THE INITIAL STEPS

TOWARD CREDIBILITY. PERFORMANCE WILL BE THE ULTIMATE MEASUREMENT.

D.O.E. IS GOING OUT OF ITS WAY TO SOLICIT AND INCORPORATE THE
VIEWS OF OUTSIDE GROUPS STATE AND TRIBAL OFFICIALS, E.P.A., AND

THE NATIONAL ACADEMY OF SCIENCE. WE ARE WEIGHING THE MERITS OF

EXPANDING THIS GROUP FURTHER TO BETTER ASSURE CONSENSUS. THIS

REMARKABLE CHANGE WILL HELP FOCUS ATTENTION AND FUNDS TOWARD

FINALLY SOLVING THE MANY ENVIRONMENTAL CLEANUP AND WASTE MANAGEMENT

PROBLEMS WE CURRENTLY FACE, BOTH IN THIS COUNTRY AND ABROAD.

THE DEPARTMENT OF ENERGY MUST APPLY ROBOTICS TO SEVERAL MAJOR

CLEANUP ACTIVITIES IDENTIFIED IN OUR 5-YEAR PLAN. THESE ACTIVITIES

INCLUDE (BUT ARE NOT LIMITED TO)

:

SAMPLING OF "HOT" SITES;

SAMPLING AND RETRIEVAL OF SINGLE-SHELL TANKS;

SITE CHARACTERIZATIONS;

DECOMMISSIONING AND DECONTAMINATION;

PROCESSING AND FUTURE PROCESSING;

LARGE MACHINE ROBOTICS FOR RETRIEVAL;

AUTOMATED SYSTEMS FOR PRODUCTION WASTE MINIMIZATION.

ALL OF US WILL HEAR OVER THE NEXT TWO DAYS WHAT METHODOLOGIES

ARE BEING USED AT D.O.E. SITES FOR DEVELOPMENT AND MAINTENANCE OF

SOFTWARE RELATED TO ROBOTIC AND REMOTE SYSTEMS. WE WILL ALSO HEAR

FROM REPRESENTATIVES OF THE GOVERNMENT AGENCIES INVOLVED IN

DEVELOPING COMMON ARCHITECTURES FOR REMOTE SYSTEMS.
ABOVE ALL, WE WANT THIS WORKSHOP TO YIELD A CLEAR DIRECTION

OF HOW D.O.E. AND THE NATIONAL INSTITUTE OF STANDARDS AND

TECHNOLOGY (N.I.S.T.) WILL WORK TOGETHER TO DEVELOP METHODOLOGIES

SO THAT D.O.E. CAN DETERMINE AND DEFINE ITS REQUIREMENTS AND,

EVENTUALLY, ITS ROBOTIC STANDARDS. WE HOPE TO SPEND OUR TIME

TOGETHER LISTENING TO TECHNOLOGISTS AND OTHER PROGRAM PARTICIPANTS

DESCRIBE THE IMPORTANCE OF ROBOTICS TO THE ENVIRONMENTAL

RESTORATION/WASTE MANAGEMENT PLAN AND HOW N.I.S.T. INTENDS TO

DELINEATE THE METHODOLOGIES REQUIRED BY D.O.E. IN DEVELOPING

STANDARDS. IF THIS TASK WERE ONE WHICH COULD BE ACCOMPLISHED

WITHOUT YOU, WE WOULD NOT BE HERE TODAY. YOUR CONTRIBUTIONS ARE

VITAL TO THE SUCCESS OF THIS WORKSHOP AND TO THIS MISSION; NAMELY,

THE DEVELOPMENT OF SENSIBLE, SCIENTIFICALLY SOUND, AND EFFICIENT

METHODOLOGIES.

LET'S GET TO WORK.

THANK YOU
OFFICF OF TFCHNOI OGV

DEVFI.OPMFNT (FM-50)

EDUCATIONAL

PROGRAM

DEVELOPMENT EM-52)

TRANSPORTATION

MANAGEMENT

(EMS 1

)

RESEARCH AND

DEVELOPMENT

PROGRAM SUPPORT

DEMONSTRATION.

TESTING. AND

EVALUATION (Et1'^5)
Division

of

Program

Support

Division

of

Demonstration

Testing

and

Evaluation

Transportation Management

o

'<2 >

b

cn o 2 9

-5 Q- 55 tu ^

° E-C

C <8 O

o i=. a.

o^ 2

2 cn

53 < S

.2 HI io

V)c

ion ite o

CO >

o

Q. b o
oo

UJ

(/)LU

I— z

II

s

LU < H

UJ<O

I-<o

I-

(/)

UJ

oc<

I-z

UJo

UJ

UJo<

Ul

UJ

C/) oo

ffl O

IT

OOz

Ul>

UJH

(f)

O)

CO

>-<

UJ

I-<
_

THE

OR

PLAN F

lANAGENEf

H

TO

MEE

ND

CLEAN

<:

VE

YE

lASTE

PPROA ANCE

1989

«t

ULU AND

INE

OMPL z ^ o

SSUED

ATIO UGUS

LU

CO

<3:o

CD LL.

<x: LU h-

:sT( 1— LU

EN OHLU HH < CO S H-lO

EPA 1EN1 ^ O

CD

o

LU

[RONr EST -YEA

ENV]

1—

o

H-i CO 1 QLU

CO

CO

CO

S CO

est— o Q.

D. LU ZI

LU

o

or:

O LU z<:

LU ^

LU> 1— LU D-<:

i-i

Z CD

o >

CO LU ^LU

C/)

S LU

LU h- > O

LU LU

Z

CD < D.O <C

CD O- < < LU LU O 3=

Z CD

Z

O

Z

<: LU

III •* 1— h-Q^ LU CO < LU CO LU

31 LU h- LU h- O)

I——ICO cm CO

CD <C •»CJ>

O < LL.

QZ I-H

LU

Z LUO

M LU H-4 l-H

-J h- LU zoz Q. ^

CD

CD LU O.

Z

OZ < H- LU

O

Q I— CO >

LU LU H-i 1—

ZO

OZ U.

O

Z

LU <c z

h- LU

O LUZ •-• Z C-5 Q Q HHI I I
LjJ O

LUO

LJ

CO

CD

<:

CO

UJ

COo

UJ

CO

00

LU

UJ

UJ

CD

UJ

CO

CO 1 I 1 g 1 1 1 1

Om 1 1 1 * ^ UJ

III

III Ibi UJ 1UJ1 1

ill 1 1 1 1 I ^ 1 1 1 U— 1 Ub 1 1 1 1UJ1 1 r"*> i^J 2^ 1 Z CS 1 1 1 Z C/i 1 1 1 1WM1 III kMH

1—4 III

CO 1—

tr\ fc—1 rv^ 1 1 1 to to o 1 1 1 1 1 1 1 1 HMM BHH M>CO < CO >-

<:oc5

UJ z CL O UJ

UJ

Z CO

Z

o UJ

O UJ
CO

LU

UJ

UJo

C5O

UJ

LUO

a:

CO

LU

LU

LU

CO

LU

LU

LU

LU

CD

LU

LU

LjJ LU

Q

CO

LU

CD

LU z o O I—

c/>

LU LU 1 -J z

<C

O ^

LU

LU H-1

(/) LU

1—1 o C/> hHH LU <cz o <^^b o^^^^ z < o ^

LU

1— <5: LU

LUO h""

Z

Z <

LU

O < <c. LU O

CD > Z h~

LU

Z

Z LU z o O Z

a: »-i LU h1—1 ^ 1— <^ ^

C/)

M < <—(/>

LU

O ^^^^^ *—< Q.

Hi 1^

Z (/) oz O >-« 1-4

LL.

O Ll-ZO 1 1
C/)

a:o

O

rr z

LU

o

\NC[ MEN

LU

CO AfiMm dd

ASS]

MAN

<:o

[ST STE

<:

hWAnn EN

1ES ND

O

o

WELC

NO EVt

TT

o < LU

[PARTMEr

L

RESTO

WITH T

o <: >-

LU

3: LUz UL o o

LU Q.

COo

CO

LU

or:

CO CO oX

LU

LU LU

Q.O

o

LU

O

LU h- CO <: M »-i <c

1—< 2> 3 Z CD Z O z z o O h- z

LL.<C

o z o l-H z o CO o O LU CO

h- Q- ^ z

1— LU z O <JS SI

LU

Z

o

o

h~

o

<J> -J LU

LU

O QZO

Q.

Z o_ 1—1

X< <:-j z

LU

Z Q.o

LL.

Z

CO LU

o <s:

Z CO CO <c O < LU !Z

i-i LU CS CD »—< z z Z < o <c o z or Q h—

LU -J

O

Q.

OO

O

D.

Z LU

•a: «3:

O
ii
CO

LU <

troO

cr

LU CL < z Z LU < 2

lU 2 S m P o

111 ^

CC CO < H

UJ

o

CQO

o < > O <

CO

LU

UJ>

OC

UJ

>-

CCo

CCo

CD3 I _, S < < 2 ^ o

CO UJ

CDQ

CC<O

oc

UJgm

CO

UJ

ocO

oco

CD3<<

CO

CO

UJ

Ico>

COoo

CQ

o °^ X CC ^

u_

CC^

UJ > CC ^ LU

UJoQ

o

CC<ooo

o

Gi

Gio

CO

>-

oc<
I-z

LU

:e

CLg

LU>

LU

LUX

I- ^

LU

O T"

o

tr

Cl

LU

Q.O

_l

LU>

LUQ

>-Oo

o

LU CO

UJ

CD

O

LL CO O <

LUg

U-o

UJ

COgoo

cr

Q.Q

<: z h- o z

UJ

CO

CCS DQcq

z:co

COO<

UJQQ

DC

C

CD

o

'go

o

o

DC

D)

CD

O LU O O O 0

CD x:

CO "cS o

•4= CO O 0 o > m <

.2 «

io5 CO o >- O 0

UJ Q- C 0 ^

10 ^

05 0 > E -D D00 0Eco

MM>c

O §- ^

-J

CL CO
Q.Q

LJJ X 0

CO

CO0o<

oe5

DC

UJco

Q_

Q.

CO

03 o0

I—» O0E

(0OD0

(0

05

CO0 0 0

05 LU 0 O

CD

Q

05

+-• CO

_goco0

T3C

05O0o

Qc/) O CO

9.8

CO 2 0 CL 0 'c

•ti

c

c/D _C5 0 0- £ 0

CO

+-* 0

Q- 05 — CO 0 +-

5- CO

"5 .0)

a*

— 0 05

DC LU

COoono

DC0

CO

c0E

CO

CO0

CO

CO <o § c

05

C0 £ E

"5 >^ > o Q Q.

^- ^ O Q 0 2

CO ^2

CD T-

"D CD

Q.

Q- CD

05

C

05

^4

05 .-tzi O 0 CO

DC -c: LU ^

CO

o ^ 2 CD 0 D)^ > CD +^ 0 ^ Q ^ ^
LU

lJ- DC

0) <

LU

X

g

LU CO > LU

-8O

LU

GC< O

LU

IH O 2 o

LU

m

X

o

CC

LL LU O

CO

LU 3< o

ULJ mO

LU

UJ<

o3

CC

LUO

x:-t—»

D- 0)

-oC 03

03

O

T3 0

CD i3

<D

Q.

C

x: COc 0 o

03 JO O Q.

-E

O 0

CO

03

(0co

030

Q. O

o6

DC

LU

H—o0

03

CO00

(/)

030O00

CD

CO •—

COoO0oO ^

/IN H— 00

SI0o0

a,

0306

CC CO O CO Z

LL LJj

O

LUH

P

CO

Q

O

Q.

CO

LU

CC <O

QQ.< <

LU

CD < on

'(/) co

Q.

CO

CD

DC

1_

4—" O

03

i_

CD

CD

O)ooco

CD H

COgono

DC

CD

c

CDE

Q.O

CD>

(D

CO

o

o

o

<^

4—1 C 0)

QO

03

—CT3 ^ I 0 <

CD ^

CD

CD

Co

COc

CO

CD

P Q- OO

c 2 DL

O h-

_Q

'coco

Q.

CO0

DC

CO

"+-* o

CO

G)0

COc

'+-• g

03O

COgoo

DC0 c0EO

CO

o

"til

— > CO o< 0

1i

05

13 ^ 0 g DC

LU 0

05

O

CO

c 0

I- 05 . T3 C Q.

.9 => 2

"(^

-^^ 13 ^ C

=10 T3

= 0

Q- SZ < o) c5

05c

T3

05

Q.0

Q_

O 0 OO H
UJ

E

c

CO .Q

1-QQ 0k_

)rdir Q.

<s

E

re

</i 0 CO 0

08 i3

QC 0 0

CC LU QC

co to

CO

QC

nery 0 5'

ivy

MacKi

Robotics < Ci>' - X \ ~ - o

(/> c

cO3

'c2 o

t5 a:

UJ

TJc

UJ

O2 coOe

<9

>- CO

E

<D a> 0 0 CO

Q. 3f8o ?r ^- c

in (D O OJ OC : >Q 3.:... £

T3C

nj

w

Q_
CD

LU

LU

O

jj_ CO - QO

CO u.

LU ^

CO CC

=5

O

COO

I-o

COO

IX

LU

o

LU

CCQ

LU

(0

(0cg

05

0)

_

CDE

Q.

CD>

CD Qg+-* (0Eo>o

c_

COcg

CO0c0E

Q.O0>0Q0

sz

-•— 0«

CO

Q.

'g

't:

CO

Q.

CO

-t—

o

'o_0

IDC

COE

COO

CL0C00

-»—< 0

CD

-I—

o

COcoo

loEo

LL00

CD

COcO -D

CO (0

:= 0

QO

QC < CO 2 1 H 2

CO Q-

.9 CD o .E ^ i

.5

o

5Jc

o

DE

1- (0 O 0) o .2

to 2

"O .E c -a E O oO 0 0 S

DC

*^

c 0 o

CO

o

o < £
O

CO

W

o ^£

Q

53 "5 13 o

6

c

c

i::: I ^1

1

c

o

•a O c

o

e

r- o

o

t/5 c

o

•a

> It

o o S

O O

bO C -d C O C3 % -a c

J3 V)

o *^ <

go 15 ,

lable urces

•nl o

o,

Exis

^-A^

I

1

i

i

'

Aval u

H

CO C «3

ca <^ r-
5

Q-<oo<gO

co

03

_o

"q.

Cl < co

4—

03

CO q

:M « O

CL 0) J2

Cl CO

O < ID cr

CO

COE

Q. CO O CL

O +=; ±:i Llo ^ 0

Cl. T3

CO

-j^ Co

C/D ^£

COcoMM

-I—

03

.9

Q.

Cl. <g

CL

CO0OOco

CO

t—

o

CO

COoO0H

>^OOoco0 c

CL

CO

-t—

c0u0

O)o


Savannah River Site Robotics

Robots

Zymate vial filling

Zymate radiation counter

Hudson radiation counter

Unimate press lubrication

Cincinnati Milacron die lubrication

GCA (Cimcorp)

jointed arm Californium waste removal (saved 35 rem first year)

jointed arm demonstration

jointed arm radioactive sample handling

gantry with jointed arm TRU waste handling development (8 DOF)

Nikko gantry Plutonium handling development

SRS designed reactor tank remote ultrasonic inspection (68000 on VME bus)

ALVIN mobile robot development

SIMON mobile robot for remote radiation, temp, and video monitoring (Z80 on

STD bus, C)

Mobile Teleoperators

Pedsco waste tank top survey

21st Century WASP waste tank top concrete scabbling decon (radio controlled)

21st Century WASP remove lead from 10 reactor resin vessels (up to 5 Rem/hr.)

Pedsco steam decon canyon corridor

Pedsco remove junction box (200 Rem/hr.)

OAO 800 assembly retrieval in reactor

ACEC modified for radio control (8088 on STD bus, Forth)

modular arm modular maintenance demonstration

Radio controlled Bobcat front end loader

Radio controlled Pedsco

ARD Super Sca\jenQerunderwater cleaning

SRS designed Remote Overhead Video Extendable Robot (50 ft. reach

cameras on moble base)

pipe crawlers

Miscellaneous

remote radiation detectors with radio link "mission modules" (Z80, Forth)

SRS designed remote microwave portable camera systems

SRS designed portable monitor/recorder/camera control systems

McDonnel Douglas wireframe robot computer simulation system

on order; IGRIP solid modeling robot computer simulation system
i
<

UJOo

V> ffl

•S z ^ o< I I Q.

0)£O

o

DC

(0c

>« CO

..SI aE

in

0) ^ c

2S

2- CL

>* CO £ CO C CO

LU -J

ffi CO

CO

c

O)^

o

c ^ '-^ •S O CO

.E

o

c

£ CO

= ^ o ^ g- 2 c o Ji 2 "C o =

.5 clo

c

CO -o

© 5 O fl> jO o o ^ ^ 5 < (/) Q. I I I I MlEll <<
13

COo

Q.

Q.

(0

0)oo

SIo

o3

TO

Q)OOIco

(5

(MB >o

oo>oc

.Eo ^ > QcIBo>

(0cE

Q.

(0

C Q. 0 1.

CL

O

E 15 8 !_ 1 ^

CO 3

cr

0)

.E (0

(0 0) o ^ 9 i 3 3

£L Q.

c

a>E

a I I I coo

Q.a< oXo>o c ^ o 2 5 ^

(0 > Eoo

(0coS

Q.oX

0)

Q.

i2

E

c

o

E-o

0)

c

.± CO 3^ F

»- 3 > ? S >» I I

0)

(0
Q. § I ^

5r § o o o c o o o 5g c ^ 5 CO

CO

Lll

Ooo2

.E 0)

o

E

w

g

O)

g CO

o 2 0 < g 2 ^ c

DC

o

O

o

o

u.

O

ZI I

CO

v>ono

DCO

UJ

QQ

E

o > ^

C/)

O C/) o ^m

COo

s=

E

0)

"co

>»

COo

<^

£

oo

iS 2 g O)

.E CO COc

CO

CO .E

o < I I I I suu

O)

CM<

V)

a>oc

0)

Q,Oao

(5E

C)>

(0coo

(0E

c>

to

E.S

0)

o

(0

E

coi

"SS oIcEE

Eooc

(0

a>oc

0)

0)

o0 (0 ^ N

.2c § O

(0 a>

<dCC 1 I coo O (0

coiS

S

o clO c o ! ^-^ ^ o &i ^ S S 3 C 0)

0) 0)

LL I I OC

CO oo>

(0oo>o

UJ

CO

(0

CO

T3

0)o

Q.

CO

CO

eg

tsoo

0)>

0)

^1

COoo

0)

Q.

CO

"O

CO

CO

CO

LU

O

RICHLAND OPERATIONS

ROBOTICS / AUTOMATION

LESSONS LEARNED

ANY NEW OPERATING SYSTEM OR STANDARD

ARCHITECTURE MUST BE TEMPERED WITH EXISTING

INDUSTRIALLY AVAILABLE TECHNOLOGY

SYSTEM REQUIREMENTS WITHIN THE NUCLEAR

ENVIRONMENT ARE QUITE DIFFERENT THAN ON THE

FACTORY FLOOR

• HIGHLY UNSTRUCTURED ENVIRONMENT

• UNIQUE ENVIRONMENTAL EONDITIONS

• SYSTEMS MUST BE MODULAR & DISPOSABLE

MOST PROJECTS HAVE INVOLVED SYNCHRONOUS

PROCESSES

NEW STANDARDS MUST NOT RESTRICT FLEXIBILITY OR

IMPOSE NEW CONSTRAINTS ON EXISTING PROJECTS

mnsi
RICHLAND OPERATIONS

PACIFIC NORTHWEST LABS

ROBOTICS / AUTOMATION

PROJECT EXAMPLE

PROTOTYPE AUTOMATED REFUELING SYSTEM (PARS):

• SPONSOR: WESTINGHOUSE HANFORD CO.

• WROTE SPECS. IN COOPERATION WITH SPONSOR

• MAINTAINED CLOSE CONTACT WITH ROBOT VENDOR

• DEVELOPED STATE-OF-THE-ART END EFFECTOR

• DEVELOPED OVERALL CONTROL SYSTEM WITH

CONTROLLER AN INTEGRAL PART

• DREW UPON SAVANNAH RIVER LABS. EXPERIENCE

WITH SIMILAR EQUIPMENT

OUTCOME:

COMPLETE DESIGN AND DEVELOPMENT THROUGH

HARDWARE PHASE OF PROJECT - ROBOT & CONTROL

SYSTEM DELIVERED
RICHLAND OPERATIONS

ROBOTICS / AUTOMATION

HARDWARE ARCHITECTURES:

VARIED ARCHITECTURES BASED UPON:

• CUSTOMER NEEDS

• COMMERCIAL EQUIPMENT AVAILABILITY

• SYSTEM COMPLEXITY

• EXPERIENCE

MOST SYSTEMS ARE PC/AT 80386 BASED

• SIMPLE ARCHITECTURE

• CUSTOMER FAMILIARITY

• AVAILABILITY OF GOOD DEVELOPMENT

ENVIRONMENTS

• MOST SYSTEMS DON'T REQUIRE ANY GREATER

SOPHISTICATION

VME, VXI & MULTIBUS SYSTEMS ALSO USED
RICHLAND OPERATIONS

ROBOTICS / AUTOMATION

SOFTWARE DESIGN METHODOLOGY:

STRUCTURED ANALYSIS & DESIGN OF REAL-TIME

CONTROL SYSTEMS (YOURDON, OTHERS)

V
RICHLAND OPERATIONS

PACIFIC NORTHWEST LABS

ROBOTICS / AUTOMATION

SYSTEM DESIGN APPROACH

ASSESSMENT OF CURRENT TECHNOLOGY

• CAN IT BE DONE WITH AVAILABLE

TECHNOLOGY?

• PROOF-OF-PRINCIPLE INVESTIGATION

• TECHNICAL RISK ASSESSMENT /

DECISION POINT

CONCEPTUAL DESIGN

• SYSTEM SPECIFICATIONS

• ECONOMIC JUSTIFICATION

DETAIL DESIGN & FABRICATION
RICHLAND OPERATIONS

PACIFIC NORTHWEST LABS

ROBOTICS / AUTOMATION PROJECTS

• ROBOTIC MANNEQUIN

• PROTOTYPE AUTOMATED REFUELING SYSTEM (WHC)

• SST IN-TANK INSPECTION SYSTEM (WHC)

• O-RING INSPECTION SYSTEM

• PRINTED CIRCUIT BOARD REPAIR SYSTEM

• ROBOTIC PART INSPECTION / REVERSE ENGINEERING

ANALYTICAL CHEMISTRY LABORATORY AUTOMATION

VARIOUS CLASSIFIED PROJECTS
RICHLAND OPERATIONS

HANFORD NUCLEAR RESERVATION

SITE OPERATIONS:

WESTINGHOUSE HANFORD CO.

PACIFIC NORTHWEST LABORATORIES:

BATTELLE MEMORIAL INSTITUTE
iI
"acoo

OSo

CO

(0

0)o

0)

_

p

CO2 oo

T3 .2

QC

o

(0

o

o ^ c

<b CO

a:

DC

COop

(0E

0)

(0o

o

r?

<0 CO

4—^ SCo o ^ < o c £ O 3 E ~ E « o £ O o o ^

CO

c3 ^«

CO

_j: I o o 2 c5

CD 3

J5

CO ^ O

o
oo

LUo

mo

+—

0)o

szO

COE

CD -—

(A)

COO "O

CD

E >

CO CD X Q

LLJ

C2 03 > CO

"3

03 iS

05 CO

CDO

-bf CD- J;; ^

CD =5 X 8? ^

uu
o

cn

LUo<o

LLI

LUoo

CDo

cr

c

wmmm o

Q. mmtm C

COooE

cc

(0E

+-» en>

CO

(1) o

ocoo

'5) Q

Bwmm no

cw

(0

0)ooooEI 3EI

(0E

>%c2O

75o <

CC

croo

EEooI XH

CCoI ci

"S

T3

"U

CD

0)

Q.

cn

CM

COc

"55

0)

"D

CO3n

CO oc

CO

C/)

0)

COo

COc

CO

a>

CO

COoo

COo

Q.

Q.

CO

CO

0) ^ 3

CO *r c ^ o ® 2 u

Lil
Oi

CO

LU<X

LU

CM

0)OO

0)occc

'5

D)

0)

0)

E

O 0) < ooo

co

ono

CO

<D

(0

0)

-J Q- LJJ

<1 ^ < LU

OOooOno

cro

oSSo

o

0)cooO

oo

(0

(D Qwocoo

CO<

<3 < 2

(0 (0

fl) 5> CO « w i= > — ^

a>o

c

(n ^

ca

(0

CO

_

0)

O

o

CO ^ § < c

'5

T3

0)

o

03 2 ^ -E c g S E o c c 2

CO

T

E ^ ^ o ^ s >f«» Do

COc

CO O

tn

CO

00

CD

E

c5

0)>

CQ

£5oooo

o

co >

C3

T3

C

CD '=i 3

*-

CO

£

c

CO i2 5 9

CO CO X n

oO

1. Q.

0)

O ^

I0)

CO

£

= 1 o "S

Jo o £ cC CO o^ <i> ^

CO

£ 2 T3

O) -5-

CO »L

CO 0) E t) o g ^ o

CO

c

o 2 < CO

"^"co

8=

O

XO

LLQo

cco3o

COc

CO

CO

COo2

CD>

CO

CDOI c

0)

O

TJ

COOoooo ^ o E 5 ^

CO ^ o= X

CO

o

X LL.

CE a> O S ^ Q O CE oS o

0)o

o

c

o

o

O CO 2 =5 ^

"a

c5

S

COE

E

-o

£

C CO

CO >» » CO

CO

o

O

£ <— o S o

o

COo

a.

CO

"co oo

CO

jO3

"OoE

COco

"D

0)

CO

CO n

0)

(0

+-* o

CO

coMB sc

0)E

Q,X

0) oc

(0coE

Q.O>oo

"OoE2

COo

CO
5 I 2ocoo

oOou<coo<< E o> o 5 o

*^

— »2

o

s i

CO

c

O Co

CD ^ ^ o "o g00 s o

CO ifi

£08 £ si £ S ^ O X3

CO Q. (0

CO>

CO

UJ

b .2

CO

Is 3 E CO

i2 - CO o -oo

SO

c

SS 0) 5 8s

c

CO

CO

CM 'm .S

T3C

CO 5c3

o>

E

,~ CO E t r o £ CO

a.

k 3 w E O« 00

11

CO

E

CO

C/) O CO

0)

O)

CO3

O)c

COE

0)

CO

CO

COc

CO . ^ CO O CO » 0)

CO

o

O Q.

S.i s «

So3 o

CO c5

COo

COcooc3ocOcc

CD

0)

CO32c

0)

CO

£L

COc

CO

COo

CO

CO

0)oo

CO

£D

CD

CO3£

COE

o

•oooco

"co oa

CO ^ = o

CM

T3C

CO

en<o12E

"co

x:o

COo

*- CO £ To o o ® o0

iS3

"OoE£

COo

CO
iso

<1> co8 o0o<

0)

0) X

co

"5)>i i o > > c o -o o c

13 C5 O

(0 CO o ^

is <^ 0 a. D —

0)o

•A is S 8 1 § c

CO

0) O

QQ

COo

CO

o

CO

oo

CM CO o o

00

iQ

IBM

o

CO

COoo

yg CD

CO 2

LU

CO ^ <1> > n = Si O Z

"a 2 o

ra

co

CO »^ X CO

0)oc

75Dco>

0)c

CO

Occ

0)

CO

COo

COE

0)

Jo

>«

o

CO

c

CO

O

x: a. H CO

o

iS

OB o

T3C

CO

COco

"S

9mmm o

Mwmm OO

Q.

COocMBEE

CO

O)O

S CL

0)oo

C

®

E

CO 2 O

0)ooco

03o

a.

COEo^ § ^

Q.

O CO

SI >»

c^ !s 0 CO

Q.

CO » 1 1
2>

SioQO

o3OoO<

COE

(0

D)OOO

(0ooooo

(0

0)

o0 ;^ 1 i

°-

E

(0 a. 0 o s « 1 ^ m

T3 i2 ^ C O ^ ^ S

cog > if s o 2 "5

0) JS £ § S

CO

E

c

—

C

c ^

CO LLI

OC ^ C

C/)

O

g

I- > X

om

COo

CMO

CO

CD

J2oO*-» o

(0o

UJ_

O > c

0)

0) CD

(fi

"5 3 O ^ c I

.2

m CO > .2 O CO 1 1

9: C7)

cr CO

CO

O

JOc

H CO

COcoc

CDE

0)

COoo

CO o

0)

(0

Q.co

T3

CD

(0

(0 ^

CO

COo

COc3O

f- CO ^ E

o

i>o 5=

S 2 Q g < DC 8 of — c £ 8 £ c o o

*"

o

B

=

o 2>

§2E £ s

0) §2

Q.

(D CL > CO ? CO ^ cc

CD

Q.

£

ooE

<D

LIl Xooc

CO

-r CO E CD

CO O) o CO ^

CO

S CD t c

CD ^

.E

S

x: a>

c^ ^ o
co5SoO <NQ<OZ<H<o

UJtXo<

a:O

Li.

CO

in

(Dm<Xo

o

(0c

COooIoo

li2 «ECp

T3

O

o

a

(0 -o

CO 0)

is

COc

CO

0)cEoo

0)c

0) o.

T3

O

si

£2 >

0)Eoo

CO

mmm cCo

"co N

COc

COw

0)o

COoo 0Eco>c

0)c

0)Eooo
^ > o

is

2>coEoO

0)oc

0)

(0

CO

LU

II 0)

Q.OOc

COco

CO

0)o

0) < o

Mi>o23O

o

CO

CO

0)

c5

c5c

CO

0)

COo

CO

CO

0)

'5> oooo

CO

"Ec

CO

CO

coE3

rj

LU

CO

E

COco

"co Eoo

O T3 ^

CO ^ o c '4:: E o o CO > 5 2 o o

CO

oEE

COo

_co3o

ooccoo

COo

co

"35o

a.Eooo

T3

"co CO I § E

0)

0) o

c?5

0)

CO5o

CO

CO

"co

Q.

CO

X

LL

COoC3EEoO

Advanced Integrated Maintenance System

Left Slave

Control

Right Slave

Control

1 CPU

Local Area Network

Transmission at 1 Mbaud

1 Kbyte block transfers

and lOHz low level

control loop update

Dedicated Control Loops

Microwave or Glass Fiber Optic

Transmission at 1 Mbaud

100 Hz control loop update



1.4 ARM CONTROL PROCESSES

8p_data

~Alt_"CBlk"->"

heartbeat

iocai_py_data

Dv / Status

mcp_data

pronet.

comm err
1.0 LTM SYSTEM (Hardware Level)

(Keytx?ard / Mouse'

(Monitor)

[ serial link^

commarKls / data

(Sensors) (Brakes)

(Sensors) (Brakes)

(Sensors) ( Brakes)

(Sensors) (Brakes)
111 H

I-H>H

I-U

CIzH

(0

U)

lii uo3

(0ao<

TME TEM NIP < (0 <

UJ > a COQ AL O UJ u z H < H <Z < III u O O Z

(0 z H

UJ < 3 Ul

g

g

H

o

—

H

o UJ

O

QQ

1-

Hu UJ < o 1-

u z O -I

1-

o UJ tto

o

CD

o tt < fi^

ll. z o u o

o

-J z o

o

u < (0

o > o -1 >-

UJH 1- >J

>- ? Q < < z -1 z 3 <

IS

Z

H

Z 1- < < < CO

o

o

o

oo

<^

3

a

E

oO

c

oO

3

CD

I- O

C/) CC O UJ N

1 1 1 1

1

>»

*•* *^

CO 3

He

a

c

(0

O)

55

oling ate

etal ode

Bead/

Groove Geometr O QC U 1- Q

(A

(0

c

O

(0

c

4)

0)

T r 1

(0

u

UJ

U

aO

T

O
(
m

COoooQOz

LU

O

X

LUOo

UJoQX

0)

UJ

hcn>oO

COo

om

tz

mmm o

(0

Q> O3

O"

k_

0)3

cr < G

(0

TO

of

0)

mwtm O

(0o

(0

COco

'to

.2c

CO

CO

o

CO

CO3c

CO
m

UJ OO

h-Z

UiO

0)cEcoft. •1>c

Q>

0)

C7>

(03

D)C

iSc

(0o

LL

ooo

jaoo

Q>EEoo

>i V) uo

c

=

o 2 ^

iso o S E = i= oS oo X

*-< coEco>C

Q>

Q)

D)

CO (0 3 (D

D) O) C CO

CO 3

T5

_

e i ois

i> g.E o o E 5 ® J? ^ o o w c - ^«

.S fl)

E

g CO^ E <1> CO O CO

3CLQ.

COcoEco

Eco>co

Ui

c« .E § E

D) ft. C Ui m O

0>CLo E 2

Q. CO

1^

C Q)

E

C fl>

+ "O i O g + Q E E So Q. O ^ -r:

*-• c- CD

*-

—- O

"isCD C O O O O So o C CO CO

JS > "o

ft- fl)

C 0.(0

ftw fc. CO o 

= O CO

is

o 0>

CO " >»E

•Qo

c

*- CO ^

.5

X

O CO

0)

o <

CO

^.^ 0)

CO 3 2 *7 0) 3 w Eo-o
g

E

V) m ^o <0 c > E

E

COc

(0

(0

(0 Oc

.2 <o c ^

<D

C3

€0C

V)

T3

CO

ono

cx: o>oc

COc

CO

Q..E

= 0

CO

0) X

CO

"c

'iZ

T3c

CO X

CO

CO

o :3

CO (/) > O o ^

JQ

Q

=

s

E> . (0

UJo

O

CO

CD

cc

T3

0)

_co 3

Q.

CO D

QO

CO <

(DO

S; to CD </> .E X ^ o o to i

o)i- J 0)

o

O O)

o

c

— ^ ^ ^

_r

E

Q)

Q.

O

(/>

O

o

£to

a:oo

CD

CD

CO

CO

CO

.E ^

CL CD

.E-'Jo

CO- S o

CO

o

CO

Q)

o

DO

z: QC

ooooo

X2O

cc

o

CD >oono

•*-> oc

(0

Q.

*-> (0

(0c

'co E

to>"0 g to 0) — C. t_

§.2 2 o toCO

Q.Qo o O 3 — Xo

Eo

CO

CO <

CD

COEo

X CE

XI <DCD ^

CO

—6 ECO mox o _o o

4-»

o

oo ^ X} ^ o o o

cc oc q:

=3 < CO

T3 1-

CD

O

So< o

OCT

CO£o3

O)oo

QC

c> jQX

c> LLC

COco

CO

D)

=

C

O

CO

(0

(DE>cc

a>E

CLO

CD>

CD

2!' O (D I fcCD

CO

o

D)c

'q. D CO

CDoE

o

fli ^ O m O

g> CO

O

m CD *- £ CO

T3

O 3

CD

C C)

<l) c: ^ < O

CO

COE

CD

CO

>s

CO

>» <1)

.5

«m

Q)

OMM

_

c

E CD J2

<i>

E 5

COC

c

>*o

=

CO .i: ^ O C CD C

CDE T3 CO

0)

.i: CO ^

-3N <D

DC ' •
I-zmm

CLo

m

h0)

>-

LJ 2 > ILU O Q U. CD

ooo I t <o

QC

Q.

Q.<

UJg-4

-J

LU

(0oO

QC

75oEEoO

0)oc

MM

0)

13C

CO

O)cwc

O)

0)

(0o

0)

iio E « ^

0)

111

a. »-

CO CO

C8

O

>»

CO 0 k. ^ o 1 a ^ CO O 3 C E

CD ^ E >» O CO

ooE

CO

o

CO

H **- o o 8

tr

CO <i> CL =3

co

c

O)

o

©

o

~C T3

0)

CO

CO

CO

'co CO

CO

CO

0> Q

£

E

o . o3P
.E

Q.Eooo

COoo

iSOm>

(0

O. Ui OS

0)

W <1> O W 2 ^ O £L

C

CO

Co >

CO f- ^ c E o>

CO ^

>^ CD

C/)

A

£

o

cEco

4>

0)

E 00

o

C CD ^ *° Q..2 C Q

CO c: CO ^ ^ S

*-o E.2>^ Q «/3 0) 5 CD C S g g O o P g o

CB

P

o -9

CO

o

CD

\-3O

CO

CO

0)

O)

CO3

D}c

CO

n>c1E

COp

T3O

tro

CL

CO

•a i c *

CO

O

X3 "D

CD

CO

c

CO ^ • CO

•«-< CO

Hi

Q>

CO

COE

0)

CO

CO

o>

mmm c

COa>Q. o

TJ

CD ^

CO

o

a.

o

CO ;5

CD .2

JC

C

= =5

i3

CO

CO

ill

CO

COE

CD

CO

>»

COooo

UJ Q. ^

CD

CO

g CO

O

c

=

=^ c

c

O CO

E.i=-J

CO 111 .= CO CP£

'TM I o ^ CO o SH ^ o *- ^

CDEo

CD>

CD Q

k.

CO

CO CD - 2 o o

CD

CO .ts c:CDE <

CD > CO c >»

LU CO

CD

C

CO CD 2 CL

iEo

0)O3 O (D CD ^ C ^

CD= Cl£ S c n o ' CD S -Q

*r 4-

o

S otr

Si I o

CO
mH

>»oc

0)

«*-• CO

Q.3C

0)

.11

—

CD

EE

o

c

(0

.52

D

•O CD

C3

•ao

Vi

"D

Q)

OSo> I £ «tB£W

in&oo

0)E

c:2 o

>.£

*-c

So

E iS o

o

c

13

o a- C T". p p s

4W

TM

9^ III O

C/)

S SP m c c ^

CO

o

"D

O

U. 4>-i> O CO O 1 o

q:

c

CDE3W

Q>

O °

4-'

CO

o

11O o o " — o

<D ^ 2 o 3 o^

IES . Q.

CO v>
I

0)

o

o

(0 o

c

o

o

c

c

o

o

"to o

w

>

c

o

c

o

>

I
m

CEE

COO

0)Q

0>

>» .

(/> Q>

"D

O

O ^ o

»-

o

co

c

0) ^ H c — CO oV- £. C <D O

<0

CO

O CO c 5 O *^O O W O 0) O TO >c

LUEE

COcoo

a:

CO

C/} 3ooE

CO

ocoQ

O

CO

CDc

CO

fl>l.EEoo

>»

CO

:3C

CO

i3
oco

(0c1km

CO

Q.coEEoo^o

(0Eo« >»

0) CO £ E

*r

o 0)

*- °D

O SoE O O Q> o ^

•i=

o

go

0)

o

o

COcE

CO

CO

COco

•c

0)

Q.o

COE

>»

c

~ CO

.J2

E

X 0)

8SC CL

CO_

SZ CO

COE

tn

>»

CO

D)C

D) CO

CO

c

O

o

—

>» CO

CO

COcooc

COo

CO ><oo

CO 1 =

CD

c

CO3 I

0)

CO .'d

CO

c

i-^E

<^ 9-5^ c 2 c X

Hi

c

a> •ocao> T3

0)o>oc

CO

si

gs2 = =ql 1O) E Q) ^ O k- .— ^ CO A (D CD

<S

C CO

o

Q.

a>

<*->

•*~» COEo

<noo

k.

'co o

"D

CO

COo

•c

Q.oc

CO

0)ooE

-^

CO

>>

COoo
o

q:

(D

00

I-coo

(0

(0 2 = oOH E

CD

w

P

O T3

0>o

T3C

(0

O)

O 3

DC CO

a.E

_ CO C O

.12 .2 0

uu JS Coc

03

(J)

o

(0<

SiH

to i—

CO

mmm o

*^oo

ocO

a.ouEO* CO

a>

•mam Ec

CO

©

E

o

CO CO

CM iO

O

CO

o 13 .E 1 2

T3

C

o^ > S.

os

o

O

*^ c- < a> CO ^ D> "1 Q. CO E CO ' o .t: o o

^52 ^c 5 o ^

0)>o 3o

OE

C CO

Ec

OL— o o > V- <D CO

Qto o E ^ o c ^ o g

/IVA /i\oOcC

xi

o

o

E

CO3 o

C'

CO oo>

COco

'co

mmmm OoI co

COocEE

CO

o>o

CLo

o

o

o

*^

o'E w Q. E «o

CD k.

CO CD

q:HO

QC

CO

>-

QCOHO

Lll CE

Q.

GC
DC

Z)

h-o

DC

h-

(f>

G) >- O

DC > OH O O

LU

DCD

-J

CL

DC

oo

DCO

c

D)

CD o

</) c

0)

(0
<nc

(0EEoO

o

OO

^1

r

0)

CO

COEo

<D

T5 T3

CD CD

CDQ

CO

0)

Q.

CO

CD

CO

CD

CDOO

"i

CD

CO

0)OO

"i

CD

D)

CO3o

a.

CD

OO

a.

CD>OE

CD

CD>OE

o

cu

CD

CDOE

Eo

"i>oE

CD>OEI

Q.

CDEoI CD>OE

o

COo

Q.

CD

CO

a.

CD

CD

Q.

CD

Q.O

CD

CD

COOO
H- w o 22

® c E S C 0) CLq

o E

CC S > " 2 S O "D

0) c o> E

0)0) £ Q)

x: fl> o

*-•</) •^

(0

S-^ ^5 E

2= .£ w £

J- 3 *- 2 ^ m «^ <0

^ 3 N =

D)£ E O P CO (D

^ ^

CL g W

w 5 "55 5>

o " ^ -

0)

w O 5

o"0 o g)^

o CO E

- o f- r

3 O CU «3 ^ WW

DC 8 CO CO

> O CD xs

^

0)

CO w

"J CO go o

O fe w m g>

HloSB i
I

i
ZO

XII

o 5

So© • 0

1/3 2 5 ^ © u © ^ s ^

fi • » yH

«!

O

OX)

_©

OX)

©

.E ^ S o «

OD ^ c S

E

.= OX) J= ^ ^ c ^ ^

cS ^ E S w I ^ ^ ^

.1

;2:
oH< H

fa I UsoOeo

C3

fa

.sss

o

DX) - - E

DX) I C©ao

B

c

ii

On

coo

QO

On

*©CO

fa

QO <<o

•«

fa<

QO

©B©H

fa

00

s

•2H

fa

On

On

B©B©

(Z5

fa

On

On

V2B©u

.©B

.2©H

fa


NBS Technical Note 1235

NASA /NBS Standard Reference Model for

Telerohot Control System Architecture

(NASREM)

James S. Albus, Harry G. McCain, and Ronald Lumia

Robot Systems Division

Center for Manufacturing Engineering

National Bureau of Standards

Gaithersburg, MD 20899

Sponsored by:

NASA Goddard Space Flight Center

Greenbelt,MD 20771

Revised June 18, 1987

Issued July 1987

VS. Deputmeot of CommcRC

Malcdm Baldrige, Secretaxy

Nation*] Buretu of Standards

Ernest Ambler, Director

NASREM TIMING DIAGRAM

HISTORICAL

TRACES

FUTURE

PLANS

short tenti memory firom

beginning of mission

-Ihr

short tenn memor

- 10 min

short tenn memory

-30 sec

short term m«nor^

-2 sec

short term memor^^

-300 msec_

short term mwnory^

15 msec

rcplanning interval - 6 min

>1 hr plaiming horizon to

to end of mission

command update interval -1.7 min

^planning interval - 1 min

>10 min planning

horizon

command update interval - 10 sec

replaiming interval -3 sec

-30 sec planning

horizon

command update interval - 1 sec

jeplanning interval - 200 msec

-2 sec planning

horizon

command update interval - 100 msec

replanning interval -30 msec

300 msec planning

horizon

command update interval = 10 msec

replanning interval -2 msec

15 msec planning

horizon

OUTPUT

update interval ~ 1 msec
<gOH

ouc

U

o

HZ

©E

iSoC

oB

s

O < E O

0:2

C/3

eu<^BOo

.QO

tm s ^

Si -

'-^

U

O

iS

Z

S

6^

C/2

2:

•2^ e u

o

(Z5

o

o

Q.Eo

a» Q

cs H>o

>-k. WDo

.2IIZO

00

QO

la

co

V3O

Q.Eo

a; H>

b.O

'c

!^ 00 S 00 c . In O

S

<^Sao

Ctaa

V3eo

O* E

Z, *

beas

6£

.Eo

«i OS r © C »

E.g a u

6-^

eac

b.a;aso

h.

*©ueoUBO

.Sf c

.E

ats

.2

is • B« 00 oo^ s s B

Bu

0)&sooBouB

.Sf BonBSBOu

T3B< 00 o £: ® ^ i

E^

00

00u

00

0^o

^1^

,BO

O

uue

B.B

03 SE

BuBO

h. o©

b.BeUB

.Sf

"3o>S b. B.

•B

©

B b. o: Q.

03

O

E CL
H£u<QH

C/3

HI O

H

O

oH

OHP OO

POo

;^oH

PH <

inPO

IZ5 u < ozoH

S3 ^ W

O

C3 W5 1—I z « £9
EXISTING PROGRAMS

NAVY - NIST - Automated Manufacturing Research Facility (AMRF)

Automated Chemical Analysis Consortium

AIR FORCE - AFWAL - NCMS - Next Generation Controller (NGC)

NASA - GSFC - Space Station Telerobotics (NASREM)

DARPA - STP

Submarine Operational Automation System (SOAS)

ALV, Pilots Associates, AAV, MAUV

ARMY - LABCOM - TMAP, RCC, TEAM, FMR

ARMY - TACOM - SAVA

DOE - ORNL - SANDIA

Environmental Restoration and Waste Management

Remote Control Vehicles - HERMES

BOM

Coal Mining Automation

PLUS ? Unmanned Aircraft Programs

? Robot Submarine Programs

? Robot Land Vehicle Programs
c

030Euoou

CuE>

03

0^I>^

tmo ^ s

a. O

ou<^Cooo

&X) ccc

a.C

O 'O

•t^ ,£: O

a.

ft

C ^ c H

eo2oeB

'55BOa

.sc

.S

is OJD ^5/5 o oB

EE

ita> ^ C C3 B O

C8

03

E ^ E

.a 73

ll •- © U ft.

t5

E

WD CO *J B »- :S U W 03

B

03B

"5E

»^ va "©O

B 13

a>

B

E ^ B "O O B B OX) B BE B © ^ > ©

a>

©

©

I/)
Q<<H

0^c©

0^OyH

B

*35oaEoo

CO H

0^u

c

o

c2o c

0^

a>

o

O c/^

c " i

a>B

B ^B u O O *^

&.

B

O

K

0^

WD

u

CO 5

CO

Q

SI^

CO

ouH

oua

•II

It

SII -I I6 e
COMMON SYSTEM ARCHITECTURE

SUNS

LISP machines

VAX

Connection machine

Butterfly

IRIS

N-Cube

Off-line:

Software development and test

CASE tools

Simulators

Debugging and analysis tools

C, ADA, LISP

On-line:

Real-time (> 1 second) multi-computer

multi-tasking operating system (UNIX)

Gaming interface

Ether

Net

Communications

680X0

Single

Board

Computers

Target Hardware:

Real-time (10 msec - 1 sec) target hardware

multi-processor, multi-tasking operating system

(pSOS, VRTX)

Sensory interactive dynamic trajectory generation

VME

or

Multi-bus

Communications

680X0

or

Special

Purpose

Hardware

Real-time (10 microsec -10 msec) special

purpose boards for high performance servos

On

Board

Communications
STANDARD ARCHITECTURE

INTERFACE TO SIMNET

C

CELL

(PLATOON)

GROUP

(SQUAD)

INDIVIDUAL

ELEMENTAL

TASKS

PATH

DYNAMICS

SERVOS

SENSORY

PROCESSING WORLD MODELING

TASK

DECOMPOSIT

OPERATOR

INTERFACE

SENSORS

MODEL

VEHICLE

MODEL

ETHER NTT

SIMNTT NODE

WORLD

MODEL
SYSTEM DEVELOPMENT

(View at Hardware)

ETHERNET

FILE SERVERS

SUN

3/160

OFF-LINE

SOFTWARE

DEVELOPMENT

PIPE

1

68020 (N processors)

TARGET SYSTEM

VMEBUS

DOWN LOAD OF EXECUTABLE

CODE

RETURN OF TARGET VARIABLES

TO DISPLAY FOR USER

^

REAL-TIME (Ims-lsec)
S t3

&

0^a©uss

ooUo

.2^

o

©2-O s;^ HUH

ouco

0^o 1 ^ © s

<! IZ5
C/5

P3

0^u5e

Si<

V3uOuCcC

c

Cg

is c«

-o 5- u C ^ E o a © —' u C

lio 1 ^ s ^

.2

s

C/3

S

S

W

C

o - £ I g c« u

03

0£c 9 U 0^

s



UJO< < o Q Q H < O o Q < o

DClu

£L CO

LU

DC

CL

LU

DC

CL

LU

COI CO

LU

CO

LU

co0

0)

Q.£cE

Q.O0>Q

CO

-c >. E G) o

CO "5

O

OO

—

H 2 15 c

CO

if)


o CO <

LLi

CO

LU

DC

CLO<Q

LLI o<

LJJ o

LU

CDO

CO

LUD

Q.

LLO

CO<o

o

LUo

DC

a.

Q.

LU

COQ

CO

LUQ

Q.

LUo

LU ^

Li. O

CO

CO

o

LU

DCQ

LU

DC3

LICO

LUOZ

LU<Xo

COQ

LU

LU
LUO

LUO

CO

LU

a.

LU

O JZ O00

D.

_o0>0Q

oX

LJJ

T3C

CO

COc• oMM

Q.o

CO0Q

CC "O c 2 0 0-

co

_ 0 CO

DCQ

O

"D

CO

O

go

^^

Q.O a ^ < ^0 O

Q. JQ. 0

=3 >

CO

O

CO

CO

CO "O

>. CO

D) -O OO ^

CO

CD

o0

CO

COco

"co

>^

^t:

c

TJ

—

O 0 o .£

CO
HIO

LU

CDO

(/) o

LU

ICO

E ca «

of

IIm g O ?

|2 0}

CO

CO 3 CO 3 £^

0) ^ O 3. 3 <B c E C o > o

«>

c

o

o

E

CD (0

O

X

n

C 0)

o

£ -n CO O c ®

o>

C

o

x:

o 3 *- -o © © _ > 2> ffl

Q. o>
CO

LJJ Q

CL

CO<

CO

CO

LUQ

CL

LUQ

CC

>>

O

CD

Q.

CO0

Q.

03

QCO

LUOEo0

a3

03o

_POO

CD

03O00C

03OX

LU 0

CO

03

03

03O

Dl

03

'co0Q < < < < <
CO

LUQ

CL<

dao

DC

oO

(0

c

o >O >O

Ily P

oz

ppr <

CO

Ll. < <

CO

LUQ

a.

LUoE

CDO

i5

Q.0

DC<


CO

LU

co

nr

LL Q. ^ <

CO o) O J

I—

o

O 05

LU

c

a. " X

liJ

T3D

03EO<

CD £ CO 0 CO

CO

—

c

o

111 i: _ c = o

LUQ

a.

o

CO0 coc

COE0

CO

CO 0

CO

O

CO 4—DC

CO

T30OC

CO

COc

_C0

CL

CO

CO0OO

CO0c0Oo

"cO Eo<

"co Q

CO0Oo

co0C0

CO

"co QoO

co

"co 0 _ 6 o 0 TJ o <


LU

CO

CO

DC<o

CD

LU

GQ

Q

CC<o

LLI

CDgzoo

LU

LU

CO

LUo

CO

CM

CDI

CO

CDO

CO

Q.O

0)

CO

COD

(0 oo

C\J

COcEooQ

CO

0)

e

S 2

CC

O Q_

CO 'ir CO CO

i_

O 0 0 Q CO h- HO g S " 0 ^ ^ CO < ^

DO CL

I

Cl

LU

CO

LLO

LUoZ << X -J

LU LUo

DCOQ

O

DC CC z<

CO


LJJ

Q_

LU

CO

o

Q ^

o.

LU <

CL

0)

LUO

LLI

IDo<

LUQ

LUIo

CO

LU LU<

CO

O

CO

CE

LU

Q.O

Q.<

LU

CO

LU

LU
Q.I o

CO

c

"D Q)

CO

o

LU

CO0OEEoOc00 0o>0CO

CO

CO

CO

X 0

CO

GCc0 111 0

1-
CO

LL

LUQ

O

Q)

Cl

a3

CLoo

Cl

CD

CDO

c

o

o

-OR

.== ji: ^ o o

CO

COoO

o q]

03

O

Q

E

J- CO o -^^

LUQ

CL

CO

CU0

CD

CO ccQ

CO

CD t5

>^ CD 0 >^

CO ^

CL .9

CO D.

03O

Q.E

CO

CO

LUQ

CL

CLm

CO

LUX To

D.O < QlQ < CL

LU

CO

CO

LU

DC

Q.X

UJ

LU

CD<

CD

LUQo

LU

CE

Z)o

CE

Ico

LU

_J

LL<o

CO>

iU

LL. <o

CO>

CL

0)o

CDz

CL

Q-<

CD

O
CO

LU

o

D.O <

LU<

03 Q

CL

UJ

O ^

LL

LUQOOO

coEooOEo

LL

O Q)

CL -O

CO

cO

03 LU

CLO

(0

c "T

0) cc E CL

UJ D. CO > E

LU

—

Q

(0oo

COo

CO

LU


CO <

LU<

CO

LU

LU<o

LUX

OOQ

LU

LU

go

DC

COQooI H CO

LUHZoo

LU

LU>

LU

DCO

LUQO

LUX

ILU

!<QO

oo

g

DC

Z)

(D

LLZooo

DC

I-zoooX

Q

DCOOO

UJ

DC

Z)

CO

LUOOX

o

O LU < LU

Q.

LU

CD<

DCOOz

LUooX
LU

LU

O

LU LU < 99 ^

CO i DOo

CD CD

D)

CC

DC CL

po

DC CJ

LU2 Bo

CC

DC

£ CO 2 °o

LL

_

£ CO

CO <

DCP

H CL O

LU

LU

CO

"D U_0 0C O

LU LLO

o

D.

CL ^00 Co

COE

COc

CT3

X ^

i>

b 0 CO Q.> CO X Eb

LJ-
^1mil mi

UJ

imifniiiiim LU$ > X LLI O ccO

Q<o>

CE

LU>

CO

LU

Q.OO

CO

LJJ

(3<>o

CO<

HI

LU

CO

D

LUO

LU

CLX

LU

COooz<

CO

LUoz

LU

DC

LU

LL

L^D<gX

Q.O

COO
CO

yjDO 1

LU LJJ o X11

z

LU LJJ <Xo1 oo

COoO

LU

CO

CO

COIooI a

LU

DCo

cc

ICO

CO

LU

DC

LUDOzo<o

Q.

Q.<

COzo

LU

LU

Q_

LU

DC<

LJ- O

CO
o<

LU

LU

LJJ

(3 Ql ^ < O OO I z

LUoo

CO

LU

CO>

COQ<o

(3

CO

LU

COzo

LU

LU

CL

LU

CO<

CD< Oo

UJ

DC

<£

LJ- O

CO <QO Q

LUQ

UJ

UJ

CO

COX

UJ

LLOzo<

CCo
STEP / P DES Inte gration Proce ss

r

r--^--n 1

I PDES

SC 4

Editing

r*"| Committees

^

SGI & 5G2^

liaison \

model

PDES

Integration

Practice

model need

PDES

Integration

Resource

structure

information

top-down

structure

PIR

Ad Hoc

Task Group

botlom-up

structure

/

SG 5

Data

Architecture

r

WG 1

I

new &

restructured

models

integrated models
LU

LU

CO

LU

CL 0>

ccOO

.0E

MBEEoO

o

(500

"DO0

Q.EoO

oooo

a.

COo

Q.

Q. <C0E

Q.

_o0>0Q

(0c0E0

LUc0E0

D)

COC

CO0>o<

CO

T300C0D

COE

COc

COo0

CO0o

CLC

MB* 0

CO

CO0DCo

osc0EDOoQCMMo

Gl

Q.3

CO00

NEXT GENERATION COMPUTER RESOURCES

PROGRAM OVERVIEW

The Navy's Next Generation Computer Resources (NGCR) program will provide the framework for standardized embedded computer hardware and software products for all Naval weapons systems in the mid-1990's and beyond through a set of

commercially-based interface and protocol standards. It will assure that mission critical computer hardware and software, produced to perform the same types of functions

as current ANAJYK-20, AN/UYK-43, AN/UKY-44, AN/AYK-14, AN/UYS-1 and AN/

UYS-2 computer systems, will be interoperable within and between systems regardless

of manufacturer or technology used (technology independence). NGCR standards will

be applied to all mission critical computer resources employed ashore and on shipboard and airborne platforms, and will encompass low, medium and high levels of

performance to meet the diverse computer processing needs of future Naval systems.

The NGCR program will implement an Open Systems Architecture (OSA)

concept. This OSA approach focuses only on the standardization of widely accepted

non-proprietary hardware and software interfaces, protocols and form and fit factors.

An OSA based on commercial standards permits multiple vendors to develop products

which meet a given published standard. A simplistic analogy is the IBM PC-compatible market which has sprung up around the published IBM standards for its PC family. This high level of standardization provides for a number of important benefits including: regular and rapid infusion of new technology, increased number of potential

suppliers, availability of modular/adaptable designs, and lower costs due to competition. Industry has indicated a strong consensus in favor of an OSA approach. An

OSA based on commercial standards will allow industry to use, to the maximum extent

possible, commercially-based design tools and products to meet Navy system needs.

The central feature of the NGCR program and that which makes it unique as a Navy acquisition program is the definition of joint industry and Navy standards. The

emphasis on "jointly" defined standards serves two purposes: first, to draw heavily on

current trends and practices in use in the commercial market-place and thereby lessen

Navy development funding expenses, and second to broaden the potential base of suppliers leading to increased competition for procurement of systems, systems upgrades

and spare parts. This standards-based approach is fully consistent with and supportive

of the open system architecture concept described previously.

There are two primary NGCR program objectives: 1) provide increased operational readiness and effectiveness, and 2) provide increased flexibility for program

managers developing systems with computer resources. The NGCR program has been

structured to attain the first objective by facilitating rapid and effective fielding of

functional changes in response to changing threats, by increased operational availability

and by reduced life cycle costs. The mechanisms by which these will occur are: the

application of the latest computer resources architecture and component technologies,

system modularity, fault tolerance, increased competition, system commonality and interoperability, as well as the applicability of commercially available standards and designs. The second objective will be accomplished by assuring a variety of Navy approved products is available for weapon system designers across the range of performance levels. The NGCR program will provide system designers with the flexibility to

apply totally integrated computer systems with assurance of intra- and inter-platform

operability.

To achieve these objectives, the NGCR program will establish a set of computer hardware and software interface and protocol standards in ten (10) areas, using

a phased approach.

Enclosure (2)
STANDARDIZATION AREAS

MULTIPROCESSOR INTERCONNECTS

BACKPLANE (1992)*

HIGH SPEED DATA TRANSFER NETWORK (1994)

HIGH PERFORMANCE BACKPLANE (1997)

MULTISYSTEM INTERCONNECTS

SAFENET I / LOCAL AREA NETWORK (1990)*

SAFENET II / LOCAL AREA NETWORK (1991)*

HIGH PERFORMANCE LOCAL AREA NETWORK (1998)

SOFTWARE STANDARDIZATION AREAS

OPERATING SYSTEM (1996* ; 1998 MLS)

DATA BASE MANAGEMENT SYSTEM (1998)

PROGRAMMING SUPPORT ENVIRONMENT (1998)

GRAPHICS LANGUAGE / INTERFACE (1998)

* CERTIFICATION OF PRODUCTS THROUGH NGCR

These standards will be defined jointly by the Navy and industry, and will take maximum advantage of ongoing commercial trends and' standardization activities. Laboratory test models will be procured to assist in the validation of the standards, development of conformance test procedures and verification of interoperability among all

NGCR standards. NGCR will develop a conformance testing program to test all NGCR

products for compliance with the NGCR standards prior to full product manufacturing

and deployment. The program is currently structured to acquire laboratory models and

develop certification capabilities for four (4) of ten (10) NGCR standards. The re- maining six (6) standards will rely completely on industry initiatives to solidify the

standards and perform conformance testing. Successfully tested NGCR products will

be certified as conforming to NGCR standards and placed on a certified products list

for application to future weapons systems development.

PROGRAM FLOW

NAVY NEED

NAVY SUPPOl'BI COMMERCIAL STANDARDS

INDUSTRY SUPPORT

-^OINT^"WWORKING J ^ROUPS^ PUBLISH

INTERIM 1 PROC

PRODUC

DEVELOPMENT

CONFQF^ANCE

FAC LITY

NAVY

SYSTEM

MtlEDS

COMMERCIAL

DESIGNS

INDUSTRY

INITIATIVES

NAVY CERTIFIED j CONTRACTOR PRODUCTI

COMMERCIAL

APPLICATIONS

AVAILABLE FOR ALL

. NAVY SYSTEM

APPLICATIONS

Enclosure (2)
4. TITLE AND SUBTITLE

DOE/NIST Workshop on Common Architectures for Rc botic Systems

5. AUTHOR(S)

Richard Quintero

6. PERFORMING ORGANIZATION (IF JOINT OR OTHER THAN NIST, SEE INSTRUCTIONS)

U.S. DEPARTMENT OF COMMERCE

NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY

GAITHERSBURQ, MD 20899

7. CONTRACT/GRANT NUMBER

8. TYPE OF REPORT AND PERIOD COVERED

Final

9. SPONSORING ORGANIZATION NAME AND COMPLETE ADDRESS (STREET, CITY, STATE, ZIP) U.S. Department of Energy

Office of Technology Development

EM-50

1000 Independence Ave., SW Washington, DC 20585

NIST-114A

(REV. 3-89)

U.S. DEPARTMENT OF COMMERCE

NATIONAL INSTITUTE OF STANDARDS AND TECHNOLOGY

BIBLIOGRAPHIC DATA SHEET

1. PUBUCATION OR REPORT NUMBER

NIST/SP-784

2. PERFORMING ORGANIZATION REPORT NUMBER

3. PUBUCATION DATE

April 1990

10. SUPPLEMENTARY NOTES

DOCUMENT DESCRIBES A COMPUTER PROGRAM; SF-185, FIPS SOFTWARE SUMMARY, IS ATTACHED.

11. ABSTRACT (A 200-WORD OR LESS FACTUAL SUMMARY OF MOST SIGNIFICANT INFORMATION. IF DOCUMENT INCLUDES A SIGNIFICANT BIBUOGRAPHY OR

LITERATURE CIIOVFY. MENTION IT HFRC » At the request of the Department of Energy's (DOE's) Office of Technology Development the

National Institute of Standards and Technology (NIST), Robot Systems Division organized and

hosted this first DOE/NIST Workshop on Common Architectures for Robotic Systems. The

Workshop was held at the Marriott Hotel in Gaithersburg, Maryland, on January 30-31, 1990.

This workshop had three goals:

(1) An initial review of the methodologies currently used by the DOE sites for development and

maintenance of software related to robotic and remote systems.

(2) Presentations by representatives of other government agencies on lessons learned in the

development of common architectures for robotic and remote systems.

(3) A preliminary assessn^ent of the methodology necessary to arrive at a DOE common

architecture.

DOE sponsored this workshop as a first step toward considering the potential roles and benefits

that common robotic architectures could play in fulfilling DOE's Environmental Restoration and

Waste Management (ER&WM) robotic technology program objectives. NIST hosted the workshop

as a means of promoting robot technology advancement and technology transfer through the

development of voluntary standards and guidelines.

1Z KEY WORDS (6 TO 12 ENTRIES; ALPHABETICAL ORDER; CAPITAUZE ONLY PROPER NAMES; AND SEPARATE KEY WORDS BY SEMICOLONS)

control system architectures; intelligent machines; real-time control systems; robot

control systems; robotic standards; robotics; teleoperation

13. AVAILABIUTY

X

X

UNUMITED

FOR OFFICIAL DISTRIBUTION. DO NOT RELEASE TO NATIONAL TECHNICAL INFORMATION SERVICE (NTIS).

ORDER FROM SUPERINTENDENT OF DOCUMENTS, U.S. GOVERNMENT PRINTING OFFICE,

WASHINQTON, DC 20402. ORDER FROM NATIP^AL TECHNICAL INFORMATION SERVICE (NTIS), SPRINGFIELD. VA 22161.

14. NUMBER OF PRINTED PAGES

154

15. PRICE

-J- ELECTRONIC FORM ir U.S. GOVERNMENT PRINTING OFFICE; 1990 — 261-9 1 3 ' 20591

NISTTechnical Publications

Periodical

Journal of Research of the National Institute of Standards and Technology—Reports NIST research

and development in those disciplines of the physical and engineering sciences in which the Institute

is active. These include physics, chemistry, engineering, mathematics, and computer sciences.

Papers cover a broad range of subjects, with major emphasis on measurement methodology and

the basic technology underlying standardization. Also included from time to time are survey articles

on topics closely related to the Institute's technical and scientific programs. Issued six times a year.

Nonperiodicals

Monographs—Major contributions to the technical literature on various subjects related to the

Institute's scientific and technical activities.

Handbooks—Recommended codes of engineering and industrial practice (including safety codes) developed in cooperation with interested industries, professional organizations, and regulatory bodies.

Special Publications—Include proceedings of conferences sponsored by NIST, NIST annual reports,

and other special publications appropriate to this grouping such as wall charts, pocket cards, and

bibliographies.

Applied Mathematics Series—^^Mathematical tables, manuals, and studies of special interest to physicists, engineers, chemists, biologists, mathematicians, computer programmers, and others engaged in

scientific and technical work.

National Standard Reference Data Series—Provides quantitative data on the physical and chemical

properties of materials, compiled from the world's literature and critically evaluated. Developed un- der a worldwide program coordinated by NIST under the authority of the National Standard Data

Act (Public Law 90-396). NOTE: The Journal of Physical and Chemical Reference Data (JPCRD)

is published quarterly for NIST by the American Chemical Society (ACS) and the American Insti- tute of Physics (AIP). Subscriptions, reprints, and supplements are available from ACS, 1155 Sixteenth St., NW., Washington, DC 20056.

Building Science Series—Disseminates technical information developed at the Institute on building

materials, components, systems, and whole structures. The series presents research results, test methods, and performance criteria related to the structural and environmental functions and the

durability and safety characteristics of building elements and systems.

Technical Notes—Studies or reports which are complete in themselves but restrictive in their treat- ment of a subject. Analogous to monographs but not so comprehensive in scope or definitive in

treatment of the subject area. Often serve as a vehicle for final reports of work performed at NIST

under the sponsorship of other government agencies.

Voluntary Product Standards—Developed under procedures published by the Department of Commerce in Part 10, Title 15, of the Code of Federal Regulations. The standards establish nationally

recognized requirements for products, and provide all concerned interests with a basis for common

understanding of the characteristics of the products. NIST administers this program as a supplement

to the activities of the private sector standardizing organizations.

Consumer Information Series—Practical information, based on NIST research and experience, covering areas of interest to the consumer. Easily understandable language and illustrations provide useful background knowledge for shopping in today's technological marketplace.

Order the above NIST publications from: Superintendent of Documents, Government Printing Office,

Washington, DC 20402.

Order the following NIST publications—FIPS and NISTIRs—from the National Technical Information

Service, Springfield, VA 22161.

Federal Information Processing Standards Publications (FIPS PUB)—Publications in this series collectively constitute the Federal Information Processing Standards Register. The Register serves as the official source of information in the Federal Government regarding standards issued by NIST

pursuant to the Federal Property and Administrative Services Act of 1949 as amended, Public Law

89-306 (79 Stat. 1127), and as implemented by Executive Order 11717 (38 FR 12315, dated May 11,

1973) and Part 6 of Title 15 CFR (Code of Federal Regulations).

NIST Interagency Reports (NISTIR)—A special series of interim or final reports on work performed

by NIST for outside sponsors (both government and non-government). In general, initial distribution is handled by the sponsor; public distribution is by the National Technical Information Service,

Springfield,"VA 22161, in paper copy or microfiche form.
U.S. Department of Commerce

National Institute of Standards and Technology

(formerly National Bureau of Standards)

Gaithersburg, MD 20899

Official Business

Penalty for Private Use $300