Model based, sensor directed remediation of underground storage tanks

Experimental investigations into the application of intelligent robot control technology to the problem of removing waste stored in tanks are described, with particular attention paid to the computing and software environment. Intelligent system control is achieved through the integration of extensive geometric and kinematic world models with real-time sensor-based control. All operator interactions with the system are through fully animated, graphical representations, which validate all operator commands before execution to provide for safe operation. Sensing is used to add information to the robot system´s world model and to allow sensor-based servocontrol during selected operations. The results of a first critical features test are reported, and the potential for applying advanced intelligent control concepts to the removal of waste in storage tanks is discussed