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dc.contributor.authorWalker, Ian D.
Cavallaro, Joseph R. 2012-05-30T17:50:23Z 2012-05-30T17:50:23Z 1996-05-01
dc.description.abstract This paper describes the application of Fault Tree Analysis to the design phase of a robot manipulator for hazardous waste retrieval. The robot is to be deployed in single-shell under-ground storage tanks at the US Department of Energy (DOE) site in Hanford, Washington. These tanks contain a variety of highly radioactive waste types, necessitating extremely safe and reliable manipulator operation. Based on preliminary design drawings of this long-reach manipulator, fault trees were constructed for several critical failure scenarios. Analysis of the trees revealed a number of ways to improve the safety and reliability of the manipulator design. This paper presents a summary of the fault tree analysis, with a discussion of the applicability of qualitative and quantitative fault tree methods to hazardous waste robotics.
dc.description.sponsorship Sandia National Laboratory
dc.description.sponsorship National Science Foundation
dc.description.sponsorship NASA
dc.language.iso eng
dc.publisher Elsevier Science Limited
dc.subjectFault tree analysis
Robot manipulators
dc.title Failure Mode Analysis for a Hazardous Waste Clean-up Manipulator
dc.type Journal article
dc.citation.journalTitle Reliability Engineering and System Safety Center for Multimedia Communication
dc.citation.volumeNumber 53
dc.citation.issueNumber 3
dc.type.dcmi Text
dc.type.dcmi Text
dc.identifier.doi 10.1016/S0951-8320(96)00055-5
dc.citation.firstpage 277
dc.citation.lastpage 290
dc.identifier.citation I. D. Walker and J. R. Cavallaro, "Failure Mode Analysis for a Hazardous Waste Clean-up Manipulator," Reliability Engineering and System Safety, vol. 53, no. 3, 1996.

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  • CMC Publications [268]
    Publications by Rice Faculty and graduate students in multimedia communications
  • ECE Publications [1011]
    Publications by Rice University Electrical and Computer Engineering faculty and graduate students

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