URPR Project Title

1
Grant Number
DE-FG04-94EW37966
Current Budget Year
June 1, 2002- May 31, 2003
URPR Project Title
Nuclear Facilities Cleanup
Project Participants
Principal Investigator, key personnel
Delbert Tesar, Chetan Kapoor, Mitch Pryor, Janie
Terrel
Potential DOE applications
Weapons Manufacturing (Pantex) Nuclear Materials
Operations (LANL) Dismantlement and
Decommissioning (ORNL) Mixed Waste Tanks Waste
2
Project Funding History
Funds this budget year (June 02-May 03)
862.5K Funds obligated for next budget year
(June 01-May 02) 862.5K University cost share
156,664 Carol Cockrell Curran Chair in
Engg. 63,520 Ernest Gloyna Regents Chair in
Engg. 15,000 M.E. Research Dev. Support
48,124 Academic Development
Funds 15,000 Other leveraged income sources (if
applicable) 292,503 Boeing/Fault Tolerant
Actuator 104,475 ONR/All Electric
Ship 255,450 ONR/ Advanced Weapons
Elevator 100,000 Advanced Technology Program
- Texas 250,000
3
Objectives Benefits
Objectives
Develop Modular Robotics Technology and
Generalized Operational Software to Address needs
of DOE Waste Environments
Potential DOE Benefits
Meet Needs for Most EM Tasks Weapons
Processing Cells, Integration, Maintenance Nuclea
r Material Operations Small Automation DD
Operational Software, Teleoperation Mixed Waste
Multiple Dexterous Manipulators Tanks Waste
Inspection, Sort, Repackage Systems on
Demand Modular Actuators Generalized
Operational SFW Design and Analysis Tools Total
Ownership Costs Minimal Spares Reduced Threat
of Obsolescence
Other Benefits
Arm Automation Commercial Modular
Manipulator Operational SFW Company Under
Formulation Timken, Maxon, Boeing, Rockwell as
Potential Licensees
4
2001-2002 Task Details
MYPP UTA 1 Standardized Modular Actuators (SMA)
Test and Characterization (Plug together,
reconfigurable modular actuators for robots
and/or workcells)
5
2001-2002 Task Details
MYPP UTA 1 Standardized Modular Actuators (SMA)
Test and Characterization (Plug together,
reconfigurable modular actuators for robots
and/or workcells)
6
2001-2002 Task Details
MYPP UTA 1 Standardized Modular Actuators (SMA)
Test and Characterization (Plug together,
reconfigurable modular actuators for robots
and/or workcells)
7
2001-2002 Task Details
MYPP UTA 2 Reconfigurable Robot (RR) Control
Software
8
2001-2002 Task Details
MYPP UTA 2 Reconfigurable Robot (RR) Control
Software
9
2001-2002 Task Details
MYPP UTA 2 Reconfigurable Robot (RR) Control
Software
10
2001-2002 Task Details
MYPP UTA 2 Reconfigurable Robot (RR) Control
Software
11
2002-2003 Task Details Available Online at
www.robotics.utexas.edu/urpr
12
Summary and Conclusion

• Maintained All Deliverables with Some Delays
• Actuator Development at Accelerated Pace
  Perhaps 45 Patents
• Applied OSCAR to DD Focus Area
• Modular Small Automation System in Place
• High Interest in Commercialization by Industrial
  Parties
• Continue to Leverage Development Work from
  Multiple Funding Sources

13
Graduations

• James Crine, M.S.E., A Study of a Wafer Alignment
  Technique Used in Semiconductor Manufacturing,
  Fall 2001
• Ratheesh Rajan, M.S.E., Foundation Studies for an
  Alternate Approach to Motion Planning of Dynamic
  Systems, Fall 2001
• Mitchell Pryor, Ph.D., Task-Based Resource
  Allocation for Improving the Reusability of
  Redundant Manipulators, Spring 2002
• Pradeepkumar Ashok, M.S.E., Design Synthesis
  Framework for Switched Reluctance Motors, Summer
  2002
• Troy Harden, Ph.D., Minimum Distance Influence
  Coefficients for Obstacle Avoidance in
  Manipulator Motion Planning, Summer 2002
• Jason Pehl, M.S.E., Analysis for Design of Serial
  Manipulators, Summer 2002
• Natalia Sharygina, Ph.D.,Model Checking of
  Software Control Systems, Summer 2002