This is the removal of a single item of waste from a container or pile of objects. This required the design and construction of devices that can safely and securely grip objects of widely varying shape, size, and weight. It also required the development of software capable of determining the shape of an object and how best to grasp that object to manipulate it. Characterization and sorting. The objects can be homogeneous or inhomogeneous and of greatly differing characteristics.
Characterization is needed again in the final stages for inspection to confirm treatment results.
These tools allows us to separate metals from nonmetals and identify homogeneous solid objects suitable for surface decon-tamination. We can identify the elements of heterogeneous waste items. And, we can characterize the contents of intact waste drums. Waste processing operations. In addition, we have demonstrated a teleoperated system for cleaning objects of more complex shapes.