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. The authors discuss the experimental environment employed, with particular attention to the computing and software control 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 servo control during selected operations. Initial test results are reported, and the potential for applying advanced intelligent control concepts to the removal of waste in storage tanks is discussed