| DOI: | 10.2172/1281774
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| 报告号: | SRNL-STI--2016-00422
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| 报告题名: | Autonomous Sampling Platform Development: Radiological Contamination Mapping at SRS |
| 作者: | Moya, Nicholas; Whiteside, Tad
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| 出版年: | 2016
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| 发表日期: | 2016-07-01
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| 总页数: | 47
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| 国家: | 美国
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| 语种: | 英语
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| 英文关键词: | boat drone
; PID
; plant
; controller
; stability
|
| 中文主题词: | 元素
|
| 主题词: | ELEMENTS
|
| 英文摘要: | From 1961 to 1964, radioactive elements were released from the Savannah River Site into local bodies of water via cooling water charges from the reactors on site. In 1983, the extent of the radioactive contamination was first studied, and elements such as 137Cs, 90Sr, 238Pu, 241Am, 244Cm, and tritium were found to have seeped from local bodies of water into sediment and the surrounding flora and fauna. The current method of tracking and monitoring radioactive contamination at the SRS is to gather samples and conduct measurements in a laboratory. A cheaper, and safer, method to conduct such measurements would be to automate the process by using an autonomous boat that can travel to locations, conduct measurements, and return home all without human intervention. To introduce this idea, the construction of an autonomous boat prototype was completed to demonstrate the practicality and feasibility of such an idea. The prototype travels to a set of waypoints, stops at each waypoint, and returns when all waypoints have been reached. It does this by employing a simple battery-powered boat with an Arduino controller that steers the boat using a steering algorithm incorporated into a Proportional Integral Derivative (PID) function. A total of three tests were conducted at two different bodies of water; and after working out some hardware problems, the boat drone was able to successfully steer and reach all programmed waypoints. With the prototype complete, the next steps to realizing the final product of the boat drone will include adopting a processing unit with higher-bit architecture, using a bigger boat with a more powerful trolling motor, and incorporating a solar panel for continuous power and round-the-clock performance. |
| URL: | http://www.osti.gov/scitech/servlets/purl/1281774
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| Citation statistics: |
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| 资源类型: | 研究报告
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| 标识符: | http://119.78.100.158/handle/2HF3EXSE/42076
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| Appears in Collections: | 过去全球变化的重建
影响、适应和脆弱性
科学计划与规划
气候变化与战略
全球变化的国际研究计划
气候减缓与适应
气候变化事实与影响
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Version |
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| 1281774.pdf（1220KB） | 研究报告 | -- | 开放获取 | | View
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| Recommended Citation: | |
Moya, Nicholas,Whiteside, Tad. Autonomous Sampling Platform Development: Radiological Contamination Mapping at SRS. 2016-01-01.
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