{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,6,6]],"date-time":"2025-06-06T14:26:32Z","timestamp":1749219992645},"reference-count":4,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5490,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Sensor\u2010rich, intelligent robots that function with respect to models of their environment have significant potential to reduce the time and cost for the cleanup of hazardous waste while increasing operator safety. Sandia National Laboratories is performing experimental investigations into the application of intelligent robot control technology to the problem of removing waste stored in tanks. This article describes the experimental environment employed at Sandia 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\u2010time sensor\u2010based control. All operator interactions with the system are through fully animated, graphical representations that 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\u2010based servo control 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.<\/jats:p>","DOI":"10.1002\/rob.4620090203","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:09:16Z","timestamp":1183727356000},"page":"145-159","source":"Crossref","is-referenced-by-count":10,"title":["Model\u2010based, sensor\u2010directed remediation of underground storage tanks"],"prefix":"10.1002","volume":"9","author":[{"given":"B.","family":"Christensen","sequence":"first","affiliation":[]},{"given":"W.","family":"Drotning","sequence":"additional","affiliation":[]},{"given":"S.","family":"Thunborg","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"B. J.PettersonandJ. F.Jones \u201cForce servocontrol of a commercial gantry robot \u201d Robots 12 Conf. Proc. Detroit MI 1988."},{"key":"e_1_2_1_3_2","unstructured":"P. T.BoissiereandR. W.Harrigan \u201cAn alternative control structure for telerobotics \u201d NASA Conference on Space Telerobotics Pasadena CA January1989."},{"key":"e_1_2_1_4_2","unstructured":"W. M.Davidson \u201cIROS An Intelligent Robot Operating System \u201d to appear."},{"key":"e_1_2_1_5_2","unstructured":"D. J.MillerandR. C.Lennox \u201cAn object\u2010oriented environment for robot system architectures \u201d Proc. 1990 IEEE Int. Conf. on Robotics and Automation Cincinnati OH May1990."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090203","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090203","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,24]],"date-time":"2023-10-24T04:14:13Z","timestamp":1698120853000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090203"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,3]]},"references-count":4,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1992,3]]}},"alternative-id":["10.1002\/rob.4620090203"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090203","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1992,3]]}}}