Long reach manipulator systems and methods

Abstract

An apparatus comprises a cell with one or more wall panels, a floor, a ceiling, and one or more openings. The cell contains one or more components comprising a dexterous manipulator with at least one articulating robotic arm and a manipulator carriage. The manipulator carriage is coupled to rails and may traverse the cell length. The cell contains a boom with a proximal end, a distal end, and articulating links comprising two or more segments that fold back onto each other within the cell or extend partially or fully through one of the one or more cell openings. The cell also contains a boom carriage (coupled to the proximal end of the boom), boom rails, and a base. The boom carriage may traverse the boom rails in the cell or remain fixed to the base. One or more end effectors are coupled to the distal end of the boom.

Description

Long Reach Manipulator Systems and MethodsTECHNICAL FIELD

[0001] This disclosure relates generally to robotic systems for nuclear decommissioning. More specifically, the disclosure relates to long reach manipulator systems and methods.BACKGROUND

[0002] Robotic manipulator systems are used extensively in the field of nuclear decommissioning, hazardous environment installation and maintenance, and other industrial applications for inspection, end effector tool use, product or equipment assembly, materials sampling, and the general handing of hazardous or dangerous materials. In cases where the extended manipulator arm requires the ability to support heavy weights while also extending to lengths greater than a few meters, a telescoping arm is typically used. However, there are specific operating space and weight limitations when utilizing telescoping arms as the sole source of long reach capabilities, particularly when the manipulator arm is stored in a mobile or modular container, and in hazardous circumstances where operating space or storage space is reduced, minimized, or otherwise constrained for the long reach manipulator. What is needed in the art is a system and method for a long reach manipulator arm to be utilized, stored, maintained, and / or transported in a cell or container, while still possessing capabilities for extending to great lengths and supporting weight while extended.GENERAL DESCRIPTION

[0003] Systems are disclosed for performing operations in an environment. The system comprises a cell, one or more wall panels, floor, ceiling, and one or more openings. The cell contains system components that may include a dexterous manipulator, a manipulator carriage coupled to manipulator rails. The manipulator carriage is configured to traverse the length of the cell. The system also comprises a boom with a proximal end, a distal end, and an articulating links section with two or more segments. The two or more segments fold back onto each other within the cell or extend partially or fully through one of the one or more cell openings. Additionally, the system comprises a boom carriage coupled to the proximal end of the boom, boom rails, and a base. The boom carriage is configured to either traverse the boom rails along the length of the cell or remain fixed to the base. The system comprises end effectors coupled to the distal end of the boom to perform operations in the environment. The system may be operated remotely. Thedexterous manipulator may perform maintenance functions on one or more of the system components within the cell.

[0004] In some embodiments, a system for performing one or more operations in an environment includes any combination of one or more of the following: a cell including a length, one or more wall panels, floor, ceiling, and one or more openings, and wherein the cell contains one or more system components. The one or more system components can include any combination of one or more of the following: a dexterous manipulator including at least one articulating robotic arm and a manipulator carriage, the manipulator carriage being coupled to manipulator rails and configured to traverse the length of the cell, a boom including a proximal end, a distal end, and an articulating links section including two or more segments, wherein the two or more segments fold back onto each other within the cell, or extend partially or fully through one of the one or more openings in the cell, a boom carriage coupled to the proximal end of the boom, boom rails, and a base, and wherein the boom carriage is operably configured to at least one of traverse the boom rails along the length of the cell or remain fixed to the base, and one or more end effectors coupled to the distal end of the boom and operable to perform the one or more operations in the environment.

[0005] In some embodiments, a system for performing one or more operations in an environment includes any combination of one or more of the following: a cell containing one or more system components. The one or more system components can include any combination of one or more of the following: a dexterous manipulator; and a boom including a proximal end, a distal end, and one or more end effectors, wherein the one or more end effectors are coupled to the distal end of the boom and are operable to perform the one or more operations in the environment.

[0006] The general description is provided to give a general introduction to the described subject matter as well as a synopsis of some of the technological improvements and / or advantages it provides. The general description and background are not intended to identify essential aspects of the described subject matter, nor should they be used to constrict or limit the scope of the claims. For example, the scope of the claims should not be limited based on whether the recited subject matter includes any or all aspects noted in the general description and / or addresses any of the issues noted in the background.DESCRIPTION OF DRAWINGS

[0007] The preferred and other embodiments are described in association with the accompanying drawings in which:

[0008] Figure 1 depicts an isometric view of an embodiment of a long reach manipulator.

[0009] Figure 2 depicts a top view of the long reach manipulator embodiment of Figure 1.

[0010] Figure 3 depicts a carriage assembly on carriage rails.

[0011] Figure 4 depicts an isometric view of a carriage wheel assembly.

[0012] Figure 5 depicts an isometric view of an embodiment of the articulating links section of the Long Reach Manipulator (LRM).

[0013] Figure 6 depicts a top view of an embodiment of the articulating links section of the LRM.

[0014] Figure 7 depicts an exemplary embodiment of the articulating links section deployed in a long thin working environment including joint detail.

[0015] Figure 8 depicts an exemplary joint embodiment.

[0016] Figure 9 depicts several views of an exemplary link embodiment.

[0017] Figure 10A depicts an exemplary joint release mechanism mounted to the outer face of the link in closed position.

[0018] Figure 10B depicts a section view of the joint release mechanism of Figure 10A.

[0019] Figure 10C depicts a side view of the joint release mechanism of Figure 10A.

[0020] Figure 11 depicts an isometric view of an embodiment of a telescoping arm.

[0021] Figure 12 depicts a top view and a side view of an embodiment of a wrist assembly.

[0022] Figure 13 depicts an embodiment of a wand.

[0023] Figure 14 depicts an embodiment of a tool changer assembly.

[0024] Figure 15 depicts an isometric view of external services on the articulating links.

[0025] Figure 16 depicts an illustration of the internal wiring loom bending as a link rotates through 120°.

[0026] Figure 17 depicts an illustration of an embodiment of the transition of external services from the articulating links to the telescoping arm.

[0027] Figure 18A depicts an illustration of an embodiment of the transition of internal services from the articulating links to the telescoping arm when the telescoping arm is in the horizontal orientation.

[0028] Figure 18B depicts an illustration of an embodiment of the transition of internal services from the articulating links to the telescoping arm when the telescoping arm is tilted downward.

[0029] Figure 19 depicts an illustrated cross-section of the telescoping arm.

[0030] Figure 20 depicts an embodiment of a cell.

[0031] Figure 21 depicts an embodiment of the interior components of the cell.

[0032] Figure 22 depicts an embodiment of a dexterous manipulator.

[0033] Figure 23 depicts an illustration of a dexterous manipulator in the cell.

[0034] Figure 24 depicts an example embodiment of lift and movement means for the cell.

[0035] Figures 25 through 31 depict example steps for installing a cell with respect to an access point to an operating space.

[0036] Figure 32 is a block diagram depicting an embodiment of a control system.

[0037] Figure 33 depicts an embodiment of an iterative approach to obtain the forward kinematics with deformations for the boom.

[0038] Figure 34 depicts an embodiment of a control room layout.

[0039] Figure 35 depicts an embodiment of the system architecture.

[0040] Figure 36 depicts an embodiment of plant room control.

[0041] Figure 37 depicts an embodiment of a schematic of the cell and connection to control cubicle(s).

[0042] Figure 38 depicts an embodiment of virtual barriers in an operating environment.

[0043] Figure 39 depicts an embodiment of an electronic computing device.

[0044] Figure 40 depicts embodiments of the devices that can be included as part of the electronic computing device of Figure 39.

[0045] Elements and acts in the figures are illustrated for simplicity and have not necessarily been rendered according to any particular sequence or embodiment.DETAILED DESCRIPTION OF EMBODIMENTS

[0046] Before any embodiments of the present disclosure are explained in detail, it is to be understood that the systems and methods disclosed herein are not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the accompanying drawings. The systems and methods disclosed herein are capable of other embodiments and of being practiced or of being carried out in various ways. It should be noted that there are many different and alternative configurations, devices, and technologies to which the disclosed embodiments may be applied. The full scope of the embodiments is not limited to the examples that are described below.

[0047] In the following examples of the illustrated embodiments, references are made to the accompanying drawings which form a part hereof, and in which is shown by way of illustration various embodiments in which the systems, methods, processes, and / or apparatuses disclosed herein may be practiced. It is to be understood that other embodiments may be utilized, and that structural and functional changes may be made without departing from the scope of the present disclosure.Introduction

[0048] Long reach manipulator (LRM) systems and methods are disclosed herein. The LRM may also be referred to herein as a multi-linked boom or simply a boom. In some embodiments, the LRM is contained within a cell. In some embodiments, the cell is at least one of mobile, modular, and airtight.

[0049] In some embodiments, movement of the LRM may be driven by at least one of electric drive(s), pneumatics, and / or hydraulics. In some embodiments, drive speed is fully variable. In some embodiments, drive speed is controlled by one or more dedicated inverter drives.

[0050] Operation of the LRM and cell comprises three different environments or spaces, in some embodiments: the environment / space within the cell, the working or operating environment / space, and the “clean” environment / space between the outside of the cell and the operating environment. In some embodiments, the operating environment is a primary containment vessel in a nuclear reactor.Long Reach Manipulator System Embodiments

[0051] Figure 1 depicts an isometric view of an embodiment of an LRM. Figure 2 depicts a top view of the LRM embodiment of Figure 1. The depicted LRM embodiment comprises a carriage assembly 200 (alternatively referred to as aboom carriage), articulating links 300 (alternatively referred to as an articulating links section), a telescoping arm 400, and optional wand 600. The carriage assembly 200 serves as the base of the system. The articulating links 300 fold upon each other in an accordion like manner for elongating into a workspace or for folding into storage. The articulating links 300 couple between the carriage assembly 200 and the telescoping arm 400. The telescoping arm 400 extends into the workspace or processing area or retracts into storage. In some embodiments, the telescoping arm 400 may couple to at least one of a wrist 500 (alternatively referred to as a wrist assembly), wand 600 (depicted), and / or other type of end effector. The boom may have several degrees of freedom to allow the position to be adjusted. In some embodiments, the system has 17 degrees of freedom.Carriage Assembly

[0052] Figure 3 depicts an embodiment of a carriage assembly 200. In some embodiments, the carriage assembly 200 provides support from which the remaining portion of the boom 100 (FIGs. 1-2) — one or more of articulating links 300, telescoping arm 400 (FIGs. 1-2), wand 600 (FIGs. 1-2), and wrist 500 (FIGs. 1- 2), and / or end effector portion — is cantilevered. In some embodiments, the carriage assembly 200 provides four controlled degrees of freedom which aid in positioning of the boom 100 (FIGs. 1-2) and to counteract any deflections of the boom 100 (FIGs. 1-2).

[0053] An embodiment of a carriage assembly 200 comprises a main arm, lever arm, rear actuator, top actuator, slewing drive, and interface clevis 230. The rear actuator may be used to control lift and the top actuator may be used to control elevation of the carriage assembly 200. The lift may be in the range of 100mm, in some embodiments. The tilt may be ±2°, in some embodiments. The tilt and raise motions are achieved through the use to two ball screwjacks, in some embodiments. The first ball jack may be mounted on top of the main arm and used to raise and lower the front end of the carriage assembly 200 through a cam / lever mechanism, in some embodiments. The rear actuator is attached to the rear of the main arm and allows the arm to tilt, in some embodiments. A combination of the moves using these jacks can affect both the lifting and tilting actions, in some embodiments. The rear actuator is rated at 20 Tons and the top actuator is rated to 10 Tons, in some embodiments. Each of these jacks are driven through harmonic gear boxes via a servo motor, in some embodiments. Similarly, a manual drive on the end of the motor may be provided in case of failure, in some embodiments. In some embodiments, other values are possible for aspects listed in this paragraph.

[0054] The slewing drive may be used to control roll of the boom 100 (FIGs. 1-2), in some embodiments. The slewing drive allows the boom 100 (FIGs. 1-2) to be rolled in either direction which may be used to account for any torsional deflections in the boom 100 (FIGs. 1-2), in some embodiments. The slewing drive may have a range of + / - 5 degrees, in some embodiments, though it may be capable of otherranges of motion, up to + / - 90 degrees for example. In some embodiments, two motors are used to drive both sides of the slew drive worm gear. In some embodiments, the motors are set so they "fight" each other slightly to prevent any play / backlash in the gear. In some embodiments, the control system ensures that this is the case across the range of motion and in both directions without significantly impeding the performance of the actuation.

[0055] The carriage assembly 200 may be repositioned laterally by sliding along carriage rails 250 on two or more carriage wheel assemblies 260. In some embodiments, a chain drive 255 is used to drive the carriage assembly 200 along the carriage rails 250. In some embodiments, the driving method is rack and pinion. The chain driven stye is generally less susceptible to misalignments.

[0056] Figure 4 depicts an isometric view of a carriage wheel assembly 260. The wheels 262 may be in pairs, in some embodiments. In some embodiments, an additional wheel 262 may be placed in the center to take any axial loads from the carriage assembly 200 (FIGs. 1-2). In some embodiments, a third wheel may serve to transfer any crabbing forces from the carriage assembly 200 (FIGs. 1-2).

[0057] Each wheel 262 (150mm diameter, in some embodiments) is capable of carrying 59.2kN, in some embodiments. In some embodiments, one or more wheels 262 are mounted on a pivoting arm to allow them to load share. In some embodiments, two pairs of wheels 262 may be coupled to the carriage assembly 200 (FIGs. 1-2). Other rail types, dimensions, and loads are possible. In some embodiments, wheels 262 are on either side of the driving rack which may minimize the amount of movement due to crabbing. In some embodiments, each wheel comprises a wheel roller 266 which facilitates movement of the carriage assembly 200 (FIGs. 1-2) along the carriage rails 250 (FIG. 3). The wheel pivot 264 allows the one or more carriage wheel assemblies 260 to pivot as the carriage assembly 200 (FIGs. 1-2) traverses the carriage rails 250 (FIG. 3).

[0058] The carriage assembly 200 (FIGs. 1-2) may need a functional stroke of approximately 7m, in some embodiments. In some embodiments, the functional stroke may be up to 50m or more and is only limited by the signals on electrical cables. It is propelled by a single brushless AC servomotor fitted with brakes, in some embodiments. This may be connected through two gearboxes to the drive pinion, the first a right-angled helical gearbox and the second a harmonic drive, in some embodiments. In the event of an electrical failure or failed motor, a manual drive may be included to allow a dexterous manipulator to manually drive the carriage assembly 200 (FIGs. 1-2) back to a safe position, in some embodiments.

[0059] In an embodiment, the carriage assembly 200 (FIGs. 1-2) is capable of withstanding a maximum bending moment of 85kNm and maximum torsional moment of 36kNm, however these are two separate load cases and these two maximum moments will likely never occur at the same time. In some embodiments, the payload mass on the carriage may be 1440kg, though other payloads are possible.

[0060] In some embodiments, one or more cameras, lights, and / or sensors may be coupled to one or more locations on the carriage assembly 200. In some embodiments, one or more cameras, lights, and / or sensors may be positioned in proximity to the carriage assembly 200.Articulating Portion

[0061] Figures 5 and 6 depict isometric and top views, respectively, of an embodiment of the articulating links 300 section of the boom 100 (FIGs. 1-2). In the depicted embodiment, the articulating links 300 of the boom 100 (FIGs. 1-2) comprises six articulating links 301, 302, 303, 304, 305, and 306 and seven joints 311, 312, 313, 314, 315, 316, and 317. In some embodiments, different quantities of link and joint sections are possible. Joint 310 is at the proximal end of the articulating links 300 and is the coupling point to the carriage assembly 200 (FIGs. 1-3). Joint 317, or the most distal joint, couples to the telescoping arm 400 (FIGs. 1- 2), wand 600 (FIGs. 1-2), end effector, and / or other tools. In some embodiments, with the boom 100 (FIGs. 1-2) fully extended in a straight line, the vertical deflection at the end of link 306 may be between 100 and 300 millimeters, in some embodiments. In some embodiments, one or more of the links 301, 302, 303, 304, 305, and 306 may be composed of steel. In some embodiments, the stress concentrations are within a safety factor of 3 of the material yield. 17-4PH steel is a high yield material that does not require any finishing post machining and may be utilized for the links 301, 302, 303, 304, 305, and 306, in some embodiments. In some embodiments, one or more of the joints 311, 312, 313, 314, 315, 316, and 317 is a revolute joint. In some embodiments, one or more of the links 301, 302, 303, 304, 305, and 306 are self-supporting.

[0062] In some embodiments, rotary shaft seals are used to ensure that the bearing grease is retained. Radiation tolerant EPDM material may be used, in some embodiments. X rings or H rings may be used to fit tight space constraints, in some embodiments.

[0063] Figure 7 depicts an exemplary embodiment of the articulating links 300 deployed in a long thin working environment. Each joint 311, 312, 313, 314, 315, 316, and 317 is shown in closer detail to show an exemplary range of motion. Thegeometry of the joints 311, 312, 313, 314, 315, 316, and 317 allows spinning angles from -90 to 180 degrees, in some embodiments.

[0064] Figure 8 depicts a close-up view of an exemplary embodiment of a joint 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6). Each joint 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6) is the coupling point between a link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) and one of another link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6), the carriage assembly 200 (FIGs. 1-2), the telescoping arm 400 (FIGs. 1-2), wrist 500 (FIGs. 1-2), wand 600 (FIGs. 1-2), end effector, and / or other tools. In the depicted embodiment, the joint 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6) comprises an actuator 320, a release mechanism 325, single lugs 330, double lugs 335, and gates for wiring looms 350. In some embodiments, the lugs 330, 335 are coupled together with spherical roller bearings. Spherical roller bearings may aid in preventing misalignment. In some embodiments, a resolver is inside of the actuator 320. Positional feedback is from a directly driven resolver mounted inside the actuator 320, in some embodiments, coupled with a resolver directly driven on the joint axis. In some embodiments, the actuator 320 is a spur gear type.

[0065] In some embodiments, the actuators 320 may be mounted to the distal end of each link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) on the vertical bulkhead face. One or more of the actuators 320, in some embodiments, may comprise an AC Servo motor with two stages of gear reduction. In some embodiments, the first stage reduction is via a pair of spur gears. In some embodiments, each of the spur gears may have a reduction ratio of 5.6:1. In some embodiments, the second stage is a harmonic drive.

[0066] The spur gear may drive the output resolver, in some embodiments. In some embodiments, the spur gear may drive the output resolver via an antibacklash gear which, in some embodiments results in an increase in resolver resolution. In some embodiments, the assembled actuator 320 is fully sealed with a combination of O-rings and rotary lip seals. A resolver may be contained within the sealed body, in some embodiments. The motor is mounted outside the main body, in some embodiments. In some embodiments, the motor has a rating of IP65.

[0067] In some embodiments, one or more of the joints 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6) may articulate through different sweep angles and have varying torque requirements. In some embodiments, a single design for actuator 320 is used for one or more joints 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6). In some embodiments, the actuator 320 output is in the form of a “knuckle” that travels between the end stops. In some embodiments, the end stops provide up to240° of motion. In some embodiments, the knuckle engages with the joint release mechanism 325 (FIGs. 10A-10C).

[0068] In the embodiment depicted in Figure 9, the lower lugs 330, 335 are wider and support the vertical and radial load, in some embodiments. The upper lugs 330, 335 are only required to support the radial load, in some embodiments. In some embodiments, two hinge pins in double shear provide joint support. In some embodiments, one or more of the link joints 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6) may have similar arrangements.

[0069] In some embodiments, one or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) may have offset lugs 330, 335 to allow them to fold back onto each other. The proximal lugs 330 are the single lugs 330 that house the bearings, in some embodiments. The distal end double lugs 335 are the double arrangement that the hinge pin is mounted into, in some embodiments. In some embodiments, the lower hinge pin is used to clamp the lower bearing to the upper of the pair of lower lugs 335 thus establishing the vertical load path. In some embodiments, selfalignment bearings may be utilized to avoid frictions with bending of the bearing pins. Some embodiments may include a clearance of 20 mm between the hinges.

[0070] Figure 9 depicts several views of an exemplary link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6). In some embodiments, two or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) are identical. In some embodiments, two or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) are similar but not identical. The depicted embodiment shows top, side, section, and isometric views of an exemplary link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) embodiment comprising double lugs 335, single lugs 330, gate(s) for wiring looms 350, and joint release mechanism coupling point 326. Links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) of this style couple together with the single lugs 335 of one link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) sliding between and coupling with the double lugs 335 of another link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6).

[0071] In some embodiments, one or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) may differ from other(s) in one or more of the following ways:• Wall section and total mass. In some embodiments, the proximal links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) take higher loads and may require more material to meet stress allowable.• Lug 330, 335 offset. Lug 330, 335 offset may be used to mitigate against buildup in stress around proximal lugs, in some embodiments.• Size of lower and upper bearing. This may minimize mass as loads reduce towards the distal links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6), in some embodiments.• Size of internal cable loom. In some embodiments, loom size may decline towards the distal links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6).

[0072] In some embodiments, one or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) may be similar to other(s) in one or more of the following ways:• Link chassis form. Each link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) performs a similar overall function, in some embodiments.• Inclusion of subassemblies. Links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) may comprise one or more of the following: actuator 320 (FIG. 8) with resolver, one or more bearings, release mechanism(s) 325 (FIG. 8), internal gates for wiring looms 350 (FIG. 8), and external services.

[0073] In some embodiments, it is important to reduce water traps and ingress. Therefore, in some embodiments, fasteners may not be recessed. Some embodiments may comprise drain holes to allow drainage in the event of fluid ingress. In some embodiments, optimization of the link chassis may be achieved through one or more of weight reduction and orientating the grain direction from the raw material to be in-line with the major direction of stress.

[0074] The link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) may comprise one or more of the following parts:• The main body may be formed by one or more folded and welded sheets, in some embodiments• The proximal lug 330• The distal lug 335• Mid internal part to hold the wiring loom on the correct position

[0075] In some embodiments, the lugs 330, 335 are machined internally creating one or more of hollows to reduce the weight and ribs to redirect the internal load flow lines to the main body. Hollows and / or ribs may reduce stress concentrations. In some embodiments, the mid internal part may be shaped by laser from a sheet of the minimum possible thickness to withstand the wiring loom. In some embodiments, one or more parts may be welded. In some embodiments, butt welds are utilized allowing parts to withstand similar stresses to the surrounding wall areas. In some embodiments, one or more welding lines will have the same depth for the whole link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6). In some embodiments,their surrounding wall areas will have the same thickness, so the same welding procedure may be used. In some embodiments, machining may be performed after welding to minimize misalignments produced.

[0076] In some embodiments, one or more cameras, lights, and / or sensors may be coupled to one or more locations on the articulating links 300. In some embodiments, one or more cameras, lights, and / or sensors may be positioned in proximity to the articulating links 300. Cameras, lights, and / or sensors may be utilized for tracking and monitoring the movement of the articulating links 300 as they are extended into the operating space or retracted into the cell 1000 (FIG. 20).

[0077] In some embodiments, each link 301, 302, 303, 304, 305, or 306 (FIGs. 5- 6) in the articulating links 300 comprises a link chassis, an actuator, a release mechanism 325 (FIGs 10A-10C), an internal wiring loom 380 (FIGs. 16-17), and an external services loom 365 (FIG. 15) (alternatively referred to as an external wiring loom). In some embodiments, each link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) may be similar in construction. In some embodiments, all of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) are identical. In some embodiments, one or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) is identical and one or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) has individual characteristics.

[0078] In some embodiments, boom link actuators are coupled to the proximal end of each link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6). In some embodiments, one or more lights are coupled to one or more of the links 301, 302, 303, 304, 305, or 306 (FIGs. 5-6). In some embodiments, these lights may be operated in the HMI.Joint Release Mechanism

[0079] Figures 10A through 10C depict an exemplary joint release mechanism 325. Figure 10A depicts an exemplary joint release mechanism 325 mounted to the outer face of a link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) in closed position. Figure 10B depicts a section view of the joint release mechanism 325 of Figure 10A. Figure 10C depicts a side view of the joint release mechanism 325 of Figure 10A. The depicted joint release mechanism 325 comprises a mounting flange 329, housing 322, yoke 328, bronze pads 327, bearing 324, leadscrew 321, guide pin 323, nut 318, and frangibolt unit 319.

[0080] The joint release mechanism 325 is mounted on the driven link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) and is the interface point between the driving actuator 320 (FIG. 8) and the driven link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6), in some embodiments. In some embodiments, the actuator 320 (FIG. 8) torque arm knuckle at the end of the torque arm is mounted to the output of the joint actuator320 (FIG. 8) and provides the point of actuator 320 (FIG. 8) interface. In some embodiments, the knuckle is comprised of two elements with a spherical outer surface that engage with bronze pads 327 of the yoke 328. In some embodiments, one or more of the bronze pads 327 may have spherical indents. Spherical indents may serve to constrain the actuator torque arm to the driven link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) during normal operations.

[0081] In some embodiments, to ensure zero backlash when the link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) is being driven, the yoke 328 of the joint release mechanism 325 cam-locks to the actuator torque knuckle. This may be achieved by having the spherical elements of the torque knuckle and bronze pad indents eccentrically aligned with one another. By not sharing a common center, when the yoke 328 engages, the knuckle cams into the indents, in some embodiments. The matching spherical surfaces on the bronze pads 327 allow some compliance of the restraint in all other degrees of freedom to avoid undesirable bearing loads, in some embodiments.

[0082] In some embodiments, if the actuator 320 (FIG. 8) fails and cannot drive the link, the yoke 328 can be rotated by 90° to release the actuator torque knuckle, allowing the link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) to move freely. This allows the boom recovery with a limp joint 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6), in some embodiments. Once the failed joint 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6) is recovered, an external drive may be fitted to enable the joint 311, 312, 313, 314, 315, 316, or 317 (FIGs. 5-6) to be folded and the whole boom retracted, in some embodiments. In some embodiments, the external drive may be fitted remotely using a dexterous manipulator which is described in further detail below.

[0083] In some embodiments, the joint release mechanism 325 is driven by a leadscrew / nut 321 / 318 arrangement. In some embodiments, the leadscrew / nut 321 / 318 arrangement is powered through a compressed spring. When the mechanism’s catch is released, the spring pushes against the leadscrew nut 318, in some embodiments. As the nut 318 moves, it drives the leadscrew 321 to rotate by 90°, in some embodiments. Rotation beyond 90° is prevented by a hardstop placed at the appropriate position, in some embodiments.

[0084] In some embodiments, the spring has been sized to release the actuator knuckle under the static resting load torque of the boom (300 Nm, in some embodiments) and the cam-lock engagement force. In some embodiments, to minimize the amount of force held when the spring is compressed, a high lead isused on the screw 321, while the nut 318 has been specified to minimize the friction between the two components.

[0085] In some embodiments, the catch mechanism to hold the joint release mechanism 325 in place is a Frangibolt unit 319, or similar. A Frangibolt unit 319 uses a captured threaded bolt with a notched position, that goes through the unit 319 and is secured to the nut 318. When the mechanism is activated, the unit 319 extends, placing tension on the bolt until it breaks at the designed weak point, in some embodiments. When this occurs, the nut 318 is free to travel along the leadscrew 321. In some embodiments, the joint release mechanism 325 be installed as a single unit and bolted through a flange 329 on the housing 322 to the end face of the link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6). This requires a cut out to be machined into the end face of the link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6), to accommodate the mechanism 325, in some embodiments. In some embodiments, the joint release mechanism 325 is not designed to be reset within the environment or the cell and is used a recovery system to disconnect an actuator 320 (FIG. 8) from a link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) in the case of failure, in some embodiments.Telescoping Arm

[0086] Figure 11 depicts an embodiment of the telescoping arm 400. The depicted embodiment comprises outer section 405, middle section 410, inner section 415, lower pivot point 420, wrist interface plate 425, one or more weight reduction panels, static pulley, dynamic pulley, and tool services. The middle section 410 is slidably coupled inside of the outer section 405 and the inner section 415 is slidably coupled inside of the middle section 410 such that middle section 410 and inner section 415 are able to fold completely into the outer section 405 when the telescoping arm 400 is retracted. The lower pivot point 420 is coupled to the distal end of the articulating links 300 (FIGs. 5-6), in some embodiments. The wrist interface plate 425 is coupled to the wrist 500 (FIGs. 1-2), in some embodiments. Both the lower pivot point 420 and the wrist interface plate 425 may be coupled to other portions of the system as needed for specific requirements of the working area and / or project. The one or more lightweight panels may be utilized to protect external services, in some embodiments. In some embodiments, they are composed of a lightweight material.

[0087] In some embodiments, a telescope tilt assembly is located between link n and the telescoping arm 400, where link n is the farthest link from the carriage assembly 200 (FIG. 1). In the embodiment depicted in Figure 6, link n is articulating link 6 306 (FIG. 6). The tilt assembly provides an extra degree of freedom to thesystem. In some embodiments, the two or more sections of the telescoping arm 400 extend equally when deployed.

[0088] In some embodiments, one or more cameras, lights, and / or sensors may be coupled to one or more locations on the telescoping arm 400. In some embodiments, one or more cameras, lights, and / or sensors may be positioned in proximity to the telescoping arm 400. Cameras, lights, and / or sensors may be utilized for tracking and monitoring the movement of the telescoping arm 400 as it extends into the operating space or retracts into the cell 1000 (FIG. 20). In some embodiments, one or more cameras and / or lights may be placed under the telescoping arm 400 to aid in guidance of the boom 100 (FIG. 1) into an operating space.Wrist

[0089] Figure 12 depicts top and side views of an embodiment of a wrist 500. The depicted embodiment comprises a wrist foot 505, a yaw axis 510, a tilt axis 515, a telescope interface plate 525, and a jettison plate 530.

[0090] The wrist 500 provides axes that are mounted at the distal end of the telescoping arm 400, in some embodiments. Adjacent to the distal end of the telescoping arm 400 is the yaw axis 510 which may have a range of motion from ±120° to the right, in some embodiments. The tilt axis 515 may be mounted on the yaw axis 510 output and may provide 135° of motion downwards from the horizontal position and 90° upwards, in some embodiments. The two axes 510, 515 may be driven by brushless AC servomotors via harmonic speed reducers, in some embodiments. The yaw axis 510 may comprise a torque arm restraint system that is able to disengage the drive train and allow the yaw axis 510 to articulate freely, in some embodiments. This is to ensure that the boom 100 (FIGs. 1-2) can be recovered if there is a failure of the drive which renders the axis 510 immobile, in some embodiments. The output of the tilt axis 515 may be fitted with a jettison interface 530 and a tool / wand mounting interface, in some embodiments.

[0091] In some embodiments, one or more cameras, lights, and / or sensors may be coupled to one or more locations on the wrist 500. Cameras, lights, and / or sensors may be utilized for tracking and monitoring operations within the operating environment.

[0092] In some embodiments, a camera located on or near the wrist 500 may be used as the primary camera of the system and may provide visual feedback of the boom 100 (FIG. 1). In some embodiments, it may be a rad-hard camera and may be rated for a total dose of more than 1 MGy. In some embodiments, one or morecameras on, or in proximity to the wrist 500, may be capable of pan, tilt and zoom (6:1, in some embodiments). In some embodiments, a backwards view (toward the carriage assembly 200 (FIG. 1) may be necessary to control the state of the equipment and the distance to external objects.Yaw Axis Module

[0093] Some embodiments of the yaw axis module 510 may have one or more of the following:• Applied bending moment from wand and tool is llOONm• Vertical load 544.5N• Assume actuator torque is principally the gravity load with the telescope declined at 25°. (Operational range 20°)• Actuator maximum torque due to gravity at this angle is 464Nm.

[0094] In some embodiments, the yaw axis actuator is driven by a motor which has a fail-safe holding brake. In some embodiments, it is close coupled with a harmonic drive unit.

[0095] In some embodiments, the frame of the actuator rotates with the yaw axis 510. In some embodiments the frame of the actuator may be supported within a yoke that is flange mounted to the telescoping arm 400. In some embodiments, the actuator output is by means of a torque arm that engages with the torque arm restraint mechanism. In some embodiments, the torque arm restraint mechanism is mounted in the third section of the telescoping arm 400. In some embodiments, the yaw axis 510 and its cantilevered load may be supported on two sealed deep groove ball bearings.Torque Arm Restraint

[0096] The torque arm restraint mechanism may be actuated by an stepper motor operating at 90V. Other motors are possible. In some embodiments, the assembly incorporates a 24:1 in-line gearbox and a 50:1 non-backdrivable worm and wheel. In some embodiments, the rotor rotates 90° to release the torque arm when necessary. In some embodiments, the restraint pads that contact the torque arm knuckle have a freedom to float by ±0.5mm to accommodate any misalignment. In some embodiments, the pads are not in line. In some embodiments, the pads may be offset by 2mm in relation to each other. This ensures that the restraint can be locked with zero backlash between the knuckle and the restraint pads.Tilt Axis Module

[0097] Some embodiments of the tilt axis module 515 may comprise one or more of the following:• Applied bending moment from wand and tool is 1006Nm• Vertical load 400N

[0098] In some embodiments, the tilt axis actuator may be driven by a motor which may comprise a fail-safe holding brake. In some embodiments, the motor drives, via a 2:1 ratio bevel set, a harmonic drive unit. In some embodiments, the actuator output rotates the wand mounting bracket. In some embodiments, it can rotate downwards by 135° from the horizontal (stowed) position. In some embodiments, the harmonic drive output and the cantilevered load of the wand 600 (FIG. 13) and sensors may be supported by a contact bearing. In some embodiments, the actuator maximum speed is 0.02 radians / sec which gives a fully extended wand tip speed of 82mm / s.Jettison Interface

[0099] In some embodiments, the equipment coupled to the wrist 500 can be remotely jettisoned. In some embodiments, the mating faces of the jettison interface 530 have one or more mechanical features that provide the principal load bearing capability. In some embodiments, the principal load bearing capability has one rotational degree of freedom at the lower edge of the latch plate. In some embodiments, the rotation is retained by one or more bolts. The one or more bolts may be located within a Frangibolt unit or other shape memory allow device that can be used to fracture the one or more bolts, in some embodiments.Wand / Tool Mounting and Docking Interfaces

[0100] In some embodiments, the boom (FIGs. 1-2) may be used with a wand 600 (FIG. 13), a water jet cutter, grating cutting tool, or other tools attached. In some embodiments, exchange between end-effectors may be carried out in the cell 1000 (FIG. 20) using a remotely operated dexterous manipulator 1100 (FIG. 22). In some embodiments, the mounting operation involves the tightening of two captive RH bolts and the subsequent connection of services. In some embodiments, the operation may involve operation of an electrically actuated latch and connection of services. In some embodiments, one or more interfaces can be mechanically detached remotely. In some embodiments, one or more release mechanisms may be incorporated. In some embodiments, at this point there are 2 x 50 way watertight D-Sub connectors with potted backs.Wand

[0101] Figure 13 depicts an embodiment of a wand 600. In the depicted embodiment, the wand 600 comprises two or more telescoping sections allowing it to extend and retract. In some embodiments, the wand 600 extends from 2.5m to 3.9m. In some embodiments, one of the telescoping sections is fixed. In some embodiments, the fixed telescoping section is short (300mm, as an example). In the retract position, the distal end of the wand 600 is flush with the fixed telescoping section, in some embodiments. The one or more moving sections of the wand 600 extend forward (the first one being supported by the fixed telescoping section, in some embodiments), and in the full extended position, the "back" of the assembly is flush with the back of the fixed telescoping section, in some embodiments. This allows for a compact retraction, without compromising the full extension, in some embodiments.

[0102] In the depicted embodiment, the wand 600 comprises external services tensioner 610, outer wand 615, chain cover 625, cable bracket 635, and tool changer assembly 640. The external services tensioner 610 and the cable bracket 635 may be used to manage cables internal and external to the wand 600. The chain cover 625 covers and protects a chain drive mechanism, in some embodiments. In some embodiments, the chain drive mechanism is used to extend and retract the telescoping wand 600.

[0103] In some embodiments, a quick release connector may be used at the wrist 500 (FIG. 12) interface so that the wand 600 can be jettisoned, if necessary.

[0104] In some embodiments, one or more portions of the wand 600 is composed of fiberglass. In some embodiments, it is used to position tools that are attached to the distal end. In some embodiments, the wand 600 is comprised of a single extending section. In some embodiments, the mass of the wand 600 is within 10 to 50kg. In some embodiments, the wand 600 may provide additional degree(s) of freedom for specific tasks such as positioning a sensor.

[0105] In some embodiments, one or more cameras, lights, and / or sensors may be coupled to one or more locations on the wand 600. Cameras, lights, and / or sensors may be utilized for tracking and monitoring the movement of the wand 600 as it extends into the operating space or retracts into the cell 1000 (FIG. 20).Tool Changer Assembly — Tooling Interface

[0106] Figure 14 depicts an embodiment of a tool changer assembly 640 comprising a pitch drive 641, roll drive 642, external services bracket 643, external services 644, end effector interface 645, and boom interface 646. In someembodiments, the tool changer assembly 640 is coupled to the distal end of the wand 600. In some embodiments, the tool changer assembly 640 may be alternatively mounted to one of the articulating links 300, telescoping arm 400, or wrist 500 depending on the overall configuration of the boom 100 (FIGs. 1-2). In some embodiments, the tool changer assembly 640 is capable of interfacing with sensor packages and / or other tools. In some embodiments, the two degrees of freedom generated by the pitch drive 641 and the roll drive 642 allow the tooling to reach 360° about the central axis of the portion of the boom 100 (FIGs. 1-2) that the tooling is coupled to.

[0107] In some embodiments, the tool changer assembly 640 comprises a male half and a female half where the male half may be coupled to the one or more tools / end effectors and the female half may be coupled to the distal end of the boom 100 (FIGs. 1-2). This design allows COTS and unique tools to be fitted with half of the tool changer assembly 640 to facilitate simple coupling to the other half of the tool changer assembly 640. In some embodiments, the tool changer assembly 640 is at least one of manually and / or remotely operated by the dexterous manipulator 1100 (FIG. 22).

[0108] In some embodiments, one or more cameras, lights, and / or sensors may be coupled to one or more locations on the tool changer assembly 640. Cameras, lights, and / or sensors may be utilized for tracking and monitoring the addition and removal of tools.End Effectors

[0109] In some embodiments, one or more tools and / or sensors may be used to perform operations in the operating space. In some embodiments, one or more tools and / or sensors may be coupled to the distal end of the telescoping arm 400 (FIG. 11), wrist 500 (FIG. 12), or the wand 600 (FIG. 13) depending on the configuration of the boom 100 (FIG. 1). In some embodiments, the limit for the tool mass to mount on the wand 600 (FIG. 13) is 0 to 20kg.

[0110] In some embodiments, tool systems may be split into two types: hydraulic tools and waterjet cutting tools. The one or more tools may comprise one or more of a shear gripper tool, waterjet gripper tool, gripper tool, shear tool, waterjet tool, and a rail and grating tool. In some embodiments, the rail and grating tool has one or more different tool heads optimized to specific tasks. In some embodiments, the rail and grating tool heads may comprise one or more of tube cut configuration, rail cut configuration, and grating cut configuration. Any conceivable tool may be implemented.

[0111] In some embodiments, one or more cameras, lights, and / or sensors may be coupled to one or more locations on the one or more end effectors. Cameras, lights, and / or sensors may be utilized for tracking and monitoring the movement of the one or more end effectors as they perform operations in the operating space. In some embodiments, a single camera that is compatible with every tool or end effector may be mounted at a location in which it may be used with every tool or end effector without having to be moved or replaced. In some embodiments, one or more cameras on, or in proximity to, the tool(s) or end effector(s) may be redundant with one or more cameras on the wrist 500 (FIG. 12) except when the wand 600 (FIG. 13) is mounted. In some embodiments, the one or more tool or end effector camera(s) may have a self-cleaning means, or a pipeline for spraying water for cleaning at intervals.Cable Management

[0112] Figure 15 through Figure 19 depict cable management in the boom 100 (FIGs. 1-2).

[0113] Figure 15 depicts an isometric view of the articulating links 300 with external services. In some embodiments, one or more of the links 301, 302, 303,304, 305, 306 may comprise a protective housing 370 to cover and protect the external services loom 365. In some embodiments, the external services loom 365 may be clamped at each point where it enters and exits a protective housing 370. In some embodiments, the one or more portions of the external services loom 365 that extend over the one or more joints 312, 313, 314, 315, 316, 317 may be unclamped to allow the external services loom 365 to articulate as the links 301, 302, 303, 304,305, 306 rotate. In some embodiments, one or more protective umbrellas 375 may be coupled to one or more links 301, 302, 303, 304, 305, 306 to cover and protect one or more of the joints 312, 313, 314, 315, 316, 317. Each protective umbrella 375 may be capable of swiveling with the external services loom 365 to maintain protection throughout articulation of the articulating links 300.

[0114] In some embodiments, the external services loom 365 may be arranged in two separate looms, one for tools and one for sensors. In some embodiments, the external services loom 365 may be fitted using the dexterous manipulator 1100 (FIG. 23) as the boom 100 (FIG 1) is deployed. In some embodiments, the external services loom 365 may be in the form of a catenary along the telescoping arm 400 (FIG. 11).

[0115] In some embodiments, there may be one or more looms (stacked side by side, in some embodiments) containing all of the cores for the control of the boom 100 (FIGs. 1-2). Some embodiments may comprise five looms. In someembodiments, the one or more looms may also contain one or more of the cores required for the control and feedback of the tools and sensors.

[0116] Figure 16 depicts an illustration of how the internal wiring loom 380 may bend naturally if just a straight section of internal wiring loom 380 was connected to the two links 301, 302, 303, 304, 305, or 306 as they rotate through 120°. In some embodiments, one or more of the links 301, 302, 303, 304, 305, or 306 are able to rotate relative to one another ±120° while maintaining a minimum bend radius in the internal wiring loom 380. In some embodiments, the minimum bend radius is 60mm providing that the end of the links 301, 302, 303, 304, 305, or 306 are at least 160mm from the pivot point 390. In some embodiments, the internal wiring loom 380 is sufficiently stiff that it will not droop in an uncontrolled manner or require supporting due to its self-weight. In the depicted embodiment, one or more strain reliefs 386 may be incorporated on the internal wiring loom 380. In some embodiments, one or more strain reliefs 386 may be utilized where the internal wiring loom 380 enters or exits a link 301, 302, 303, 304, 305, or 306. In some embodiments, the minimum acceptable bend radius of the internal wiring loom 380 which is in the range of 60-80mm.

[0117] In some embodiments, the internal wiring loom 380 may be potted at each articulation. In some embodiments, watertight D-Sub connectors may form the basis for motor and / or ancillary connections. Both downstream and upstream connections are catered for, in some embodiments. The downstream may be 25- way and the upstream 9-way D-Subs, in some embodiments. In some embodiments, the internal wiring loom 380, once implemented, may not be able to be removed. In some embodiments, extra cores may be routed to allow for breakages in the wiring. There is 1 quad on the downstream and 2 cores on the upstream, in some embodiments. There may be more quads and or cores, in some embodiments.

[0118] Figure 17 depicts an illustration of an embodiment of the transition of external services from the articulating links 300 to the telescoping arm 400. In the depicted embodiment, the external services loom 365 crosses over joint 317 over the telescoping arm 400. In the depicted embodiment, the external services loom 365 transitions from a vertical arrangement to a horizontal arrangement while passing through a ±90° yaw joint. In some embodiments, the bend radius of the external services loom 365 over the joint is 500 mm. Across the telescoping arm 400 the external services may incorporate a loop 475 that can tighten as the telescoping arm 400 is tilted downwards to pay out more of the external services loom 365 to compensate for the change in the length of the telescoping arm 400during the tilt operation. The internal wiring loom 380 may be clipped to the structure in between the joint 317 and the telescoping arm 400.

[0119] Figures 18A and 18B depict illustrations of an embodiment of the transition of internal services from the articulating links 300 to the telescoping arm 400 when the telescoping arm 400 is in a horizontal position and a downward position, respectfully. The depicted internal wiring loom 380 is a ribbon cable that changes from vertical to horizontal just before the transition out of the articulating links 300. The internal wiring loom 380 may be potted where the cable transitions from horizontal to vertical. In the depicted embodiment, before the internal wiring loom 380 exits the articulating links 300 there may be a curved bend to accommodate extra cable which can stretch out and extend when the telescoping arm 400 tilts downward with respect to the articulating links 300. In the depicted embodiment, the internal wiring loom 380 may enter the telescoping arm 400 near the base.

[0120] Figure 19 depicts an illustrated example embodiment of a cross-section of the telescoping arm 400. The cross-section shows the inner section 415, middle section 410, and the outer section 405. Some embodiments may include a different number of sections. In the depicted embodiments, each section 405, 410, 415 is comprised of two pieces that couple to each other with offset lap joints 450. In the depicted embodiment, one or more low friction pad assemblies 445 may be place between the sections 405, 410, 415 to reduce friction during extension and retraction of the telescoping arm 400. In the depicted embodiment, the interior of the telescoping arm 400 is split into the drive zone 440 and the services zone 435 for internal drive mechanism(s) and services, respectfully.

[0121] In the carriage assembly 200 (FIG. 3), the service cable loom may be managed within a cable chain, in some embodiments. The loom may start from a connector plate on the carriage assembly 200 (FIG. 3), in some embodiments. 10 x 50-way watertight D-Sub connectors may be used, in some embodiments.Cable Reeler

[0122] In some embodiments, when wiring looms are stored they may be wrapped around one or more reels. In some embodiments, to install them the reel, which may be powered in some embodiments, they would slowly unwind. As they unwind a dexterous manipulator may clip the external services loom to the boom at set positions, in some embodiments. In some embodiments, once fully clipped to the boom, the reel will have made X number of rotations and its final position may be difficult to predict. Therefore, a flying lead containing all of the power / data signals for the external services may be plugged into the center of the reel once theexternal service loom had been fully deployed, in some embodiments. In some embodiments, the resultant bend radius of one or more of the cables in a loom may be 75mm. Bend radius may vary across embodiments.

[0123] An embodiment of a horizontal cable reeler has the following:• Reeled cable length 2m to 30m

[0124] The wand articulations are as follows, in some embodiments:• Extension = 2.1 m• Boom tilt = 20° (cable at a radius of 350 mm)• Wrist yaw = + / - 90°• Wrist way = +75° / - 135°

[0125] In some embodiments, the maximum cable payed out is at the -75° position when the tilt axis acts to push the cable from the boom. In some embodiments, in the -135° position the tilt axis wraps the cable around the motor.Max Cable Loop

[0126] In some embodiments, if a horizontal reeler is used with a fixed point at a first roller and allowed to rotate about its axis, a second roller may be allowed to rotate about its axis and translate toward the first roller. In some embodiments, the cable may then be passed over the guide which may be fixed. In some embodiments, the guide extends with the end of the boom and guides the cable to exit the boom vertically down.Coordinate System

[0127] In some embodiments, a boom reference system starts on articulating link 1 301 (FIGs. 5-6). In some embodiments, each of the links 301, 302, 303, 304, 305, 306 (FIGs. 5-6) has an individual reference system, wherein the individual reference system(s) are aligned with the length, width, and height of each link 301, 302, 303, 304, 305, 306 (FIGs. 5-6). The origin of each system of reference may be situated on the axis of each joint 312, 313, 314, 315, 316, 317 (FIGs. 5-6), in some embodiments. For the first six links 301, 302, 303, 304, 305, 306 (FIGs. 5-6), the X axis may be aligned with the longest dimension of each link 301, 302, 303, 304, 305, 306 (FIGs. 5-6), the Z axis may be aligned with the vertical, and the Y axis may be determined by the right-hand rule. In some embodiments, the Z axis corresponds with the axis of rotation of each joint 312, 313, 314, 315, 316, 317 (FIGs. 5-6). In some embodiments, a fixed global origin may be located at the base of the carriage assembly 200 (FIG. 3).Cell System EmbodimentsCell Structure

[0128] Figure 20 depicts an isometric view of a cell 1000. In some embodiments, the cell 1000 is constructed from a plurality of bent metal sheets welded together to form a structure which may be sealed, in some embodiments. In some embodiments, the cell 1000 is airtight and / or watertight. In some embodiments, one or more flanges 1010 may be incorporated depending on the pressure requirements of the particular application. Flanges 1010 may serve to prevent deflections and, as such, more may be used for higher pressure environments and fewer for lower pressure environments. In some embodiments, the cell 1000 may be a standard ISO shipping container which may be modified.

[0129] In some embodiments, the cell 1000 may comprise one or more openings (e.g., 1015) to accommodate the boom 100 and / or other tools and / or services. In some embodiments, at least one panel, such as the back panel, of the cell 1000 may comprise one or more doors and / or can be completely removed to allow access to the boom 100 and dexterous manipulator 1100 (FIG. 22). The valve 1005 depicted on the front of the cell 1000 may act as a containment door for when the cell 1000 is in transit, in some embodiments. In some embodiments, the cell 1000 may be equipped with one or more doors / ports which may be used for importing and exporting tools. The one or more ports and doors may be designed for sealed transfer of equipment into and out of the cell 1000 whilst maintaining the boundary between the spaces. In some embodiments, the inner hatches of the cell 1000 may be controlled by a dexterous manipulator 1100 (FIG. 22). In some embodiments, the dexterous manipulator 1100 (FIG. 22) may retrieve and insert tools into the containers within a transportation cylinder from a chute.

[0130] In some embodiments, the base of the cell 1000 may be bolted to a large base frame. A large base frame may provide additional stiffness to the cell 1000 locally to the carriage rails which may be subjected to the highest moments, in some embodiments. In some embodiments, the carriage rail assembly is bolted to the base of the cell 1000. In some embodiments, there are no welds in the load path between the rails and the ground.

[0131] In some embodiments, the cell’s 1000 external dimensions are 8.8m long x 2.4m wide x 2.0m high. In some embodiments, the cell walls are 10mm thick, and the floor is 25mm thick (to allow for mechanical mounting holes, in some embodiments). Other external dimensions and cell wall thicknesses are possible.Interior Components of the Cell

[0132] Figure 21 depicts an exemplary embodiment of the interior components of the cell 1000. In the depicted embodiment, the cell 1000 contains the boom 100 and dexterous manipulator 1100. The articulating links 300 of the boom 100 may fold in a compact fashion in the cell 1000 to provide sufficient space to accommodate one or more of the telescoping arm 400, the wand 600, the tools, and the dexterous manipulator 1100, in some embodiments. The carriage assembly 200 can move along the length of the boom rail 1080 to extend the boom 100 into the operating space. The boom 100 can exit the cell 1000 through the cell opening 1015 to gain access to the operating space. The dexterous manipulator 1100 can traverse the rail 1090 to gain access to the full length of the cell 1000.

[0133] In some embodiments, when the boom 100 (FIG. 1) is fully retracted, there is enough room in the cell to accommodate all portions of the boom 100 (FIG. 1) including the carriage assembly 200 (FIG. 1), the articulating links 300 (FIG. 6), the telescoping arm 400 (FIG. 11), the wand 600 (FIG. 13), the tools, and the dexterous manipulator 1100 (FIG. 22).

[0134] In some embodiments, the boom 100 may be washed and dried (tbc) by a washing system.Dexterous Manipulator Embodiments

[0135] Figure 22 depicts an embodiment of a dexterous manipulator 1100. Figure 23 depicts an illustration of a dexterous manipulator 1100 in the cell 1000. The dexterous manipulator 1100 is capable of remote operation, weight compensation, force scaling, haptic feedback, guidance, and collision avoidance. In some embodiments, the dexterous manipulator 1100 may be controlled by a human machine interface. In some embodiments, dexterous manipulator control may utilize human-in-the-loop functionality.

[0136] In some embodiments, the dexterous manipulator 1100 may perform routine and recovery operations in any position in the cell 1000 (FIG. 20) and / or the environment. In some embodiments, the dexterous manipulator 1100 is able to travel the entire length of the cell 1000 (FIG. 20). In some embodiments, the dexterous manipulator 1100 may use tools to achieve the maintenance and operational tasks.

[0137] In some embodiments, the dexterous manipulator 1100 may perform routine operations throughout the cell 1000 (FIG. 20). In some embodiments, the dexterous manipulator 1100 may change tools and maintain the boom 100 (FIGs. 1-2) and other equipment as it passes along the rail 1090 (FIG. 21). One or more tools may be stored in the cell 1000 (FIG. 20).

[0138] In some embodiments, in the case of equipment failure, the dexterous manipulator 1100 may perform non-routine tasks such as recovering or maintaining the equipment out of its normal operating area. In some embodiments, the dexterous manipulator 1100 may be coupled to a travelling beam system along the length of the cell 1000 (FIG. 20) which may transport the dexterous manipulator 1100 to the desired location. An embodiment of the rail 1090 (FIG. 21) be an off-the- shelf rail system with a rack and pinion drive system incorporated into the dexterous manipulator carriage 1110. In some embodiments, the rail 1090 (FIG. 21) may be mounted on a frame with bolts or other fasteners to one or more surfaces in the cell 1000 (FIG. 20).

[0139] In some embodiments, the dexterous manipulator 1100 may be mounted on a hinged joint from the carriage 1110. In some embodiments, this provides flexibility with both positioning and reach, therefore allowing the dexterous manipulator 1100 more access to carry out routine and recovery operations throughout the cell 1000 (FIG. 20). In some embodiments, the range of motion may be actuated using a linear actuator on a pivot controlled by the operator(s) using the cameras 1125 and applying the brake when appropriate.

[0140] In some embodiments, the dexterous manipulator 1100 may be rotated by 20° internally. This allows working space for the maximum movement of the dexterous manipulator 1100 elbows. This also allows the workspace of dexterous manipulator 1100 to be spread more horizontally across the width of the cell 1000 (FIG. 20) than if it were orientated upright and therefore improving its useful working envelope, in some embodiments. Other rotation ranges are possible.

[0141] In some embodiments, the dexterous manipulator carriage 1110 may use a motor. This motor provides a torque of 14Nm to drive the dexterous manipulator carriage 1110, in some embodiments. Other motors are possible. In some embodiments, the carriage comprises two axes of movement:• longitudinal along the length of the cell 1000 (FIG. 20) (0 to 6m) which can be actuated by two motors, in some embodiments, wherein one of the motors may be used for recovery, in some embodiments); and• rotational along the vertical axis (carriage "swing" door, opening from 0 to 90 degrees, in some embodiments). In some embodiments, the swing motion is actuated by a servomotor linked to a leadscrew.

[0142] In some embodiments, one or more cameras 1125, lights, and / or sensors may be coupled to one or more locations on the dexterous manipulator 1100. In some embodiments, one or more cameras, lights, and / or sensors may be positioned in proximity to the dexterous manipulator 1100. Cameras, lights, and / or sensors may be utilized for monitoring operations within the cell 1000 (FIG. 20). In some embodiments, the dexterous manipulator 1100 may have one or more arm cameras and / or a body camera to assist with operational views.

[0143] In some embodiments, the dexterous manipulator 1100 may be used to place additional cameras and / or sensors in the cell 1000 (FIG. 20) or one or more of the components therein. In some embodiments, the one or more cameras and / or sensors may be coupled to magnets. In some embodiments, one or more magnets may have a switching circuit that can be actuated using the dexterous manipulator 1100. In some embodiments, the magnetic field only flows through one side of the magnet — e.g., the side in contact with the component.Cable Management

[0144] In some embodiments, one or more of the cables may enter the cell 1000 (FIG. 20) through the electrical interface mounted on cell wall, and lead into the beginning of the moving energy chain where they will travel through and come to the junction box on the dexterous manipulator carriage 1110 (with the exception of direct into motors). In some embodiments, the dexterous manipulator cables may then be routed into a connector and plugged directly into the dexterous manipulator 1100.Recoverability of System

[0145] In some embodiments, if the primary rack and pinion motor fails, it may be back-drivable or able to disengage completely and a secondary motor may engage and take control; therefore, building redundancy into the drive system.

[0146] In some embodiments, if the dexterous manipulator 1100 itself fails, the manipulator arms 1130 may be counterweighted so it should fail in a safe mode where the arms 1130 are retracted to a balanced state allowing the operator(s) to use a rack and pinion drive system to move dexterous manipulator 1100 to a desired location for maintenance to be undertaken. If this failure mode is not achievable due to a gripper holding the arm 1130 down or being stuck, the other arm 1130 may still be able to assist and free the trapped arm 1130, in some embodiments having two manipulator arms 1130. If both arms 1130 fail, they may be able to be pushed freely out of the way as the dexterous manipulator carriage 1110 is returned to a desired location for recovery, in some embodiments.

[0147] In some embodiments, for preventative maintenance and recovering the dexterous manipulator 1100, the back door of the cell 1000 (FIG. 20) may be removed, a substitute set of rails may be deployed and align to the dexterous manipulator carriage rails 1090 (FIG. 21) in order to transfer the dexterous manipulator carriage 1110 onto the substitute rails and be taken away for maintenance.Dexterous Manipulator Tasks and Reach

[0148] In some embodiments, the dexterous manipulator 1100 may use tools during its routine and non-routine tasks where necessary. In some embodiments, these tools are accounted for in the dexterous manipulator’s 1100 workspace. In some embodiments, such tooling or any equipment inside the cell 1000 (FIG. 20) which requires handling by the dexterous manipulator 1100 may have a dexterous manipulator 1100 friendly interface.

[0149] In some embodiments, to assist with heavy lifting duties (>10kg or challenging maneuvering with heavier loads, in some embodiments), there may be a hoist system in place on the dexterous manipulator 1100 body. The hoist system may be located on a beam fixed to the dexterous manipulator 1100 body, where it can be freely moved along this beam depending on where the lifting aid is needed, in some embodiments. In some embodiments, this hoist may include a radiation tolerant motor.

[0150] The dexterous manipulator 1100 may utilize one or more of the following tools: winch, screwdriver, spanner, impact wrench, harness / lifting loop, torque multiplier, joint closing tool, bolt runner, inclinometer, mops. Other tools are possible.Tool Storage Area

[0151] In some embodiments, a tool storage area may be located at the front of the cell. The tool storage area may be located wherever it is most convenient for the particular size and operations. In some embodiments, one or more drawers may be included within the cell 1000 (FIG. 20). These drawers may be used to store one or more end effectors and / or remote handling tooling. In some embodiments, these drawers are located at the distal end of the cell 1000 (FIG. 20). In some embodiments, a tool transfer system may be used to facilitate movement of equipment within the cell 1000 (FIG. 20). In some embodiments, the tool transfer system may comprise one or more of tool transfer rod, trolley rail(s), and storage drum trolley(s).Methods for Moving and Installing the Cell

[0152] The cell 1000 may be moved into position using one or more transport means such as skids, roller skids, castors, wheels, tractors, and / or other means. In some embodiments, one or more tractor units may be used to move the cell 1000. In some embodiments, the one or more tractor units may be attached to at least one of the front, back, and sides of the cell 1000. This may enable the system to make the tight turns that may be required for the installation as well as to move in a straight line. One or more tractor unit attachment points may be included, in some embodiments. The one or more tractor units may have sufficient force to move the cell 1000 over small gradients and uneven surface. In some embodiments, one or more tractor units and / or other mobility systems and methods may be adapted for remote use. In some embodiments, the one or more tractor units may have one or more of the following features: high load capacity, capable of supporting a load pitch angle of up to 3%, ability to traverse uneven surface, low overall height, and / or may be remotely operated.

[0153] In some embodiments utilizing roller skids, the roller skids may be capable of carrying up to 6 tonnes each. In some embodiments, such as the embodiment depicted in Figure 24, the weight of the cell 1000 may be distributed over a plurality of roller skids 1210 and 1215. Other amounts are possible depending on the size of the cell 1000 and other factors specific to each individual application. In some embodiments, the one or more roller skids 1215 may be in pairs 1210 so that they can be pulled from underneath the cell 1000 from one side in pairs.

[0154] In some embodiments utilizing roller skids 1210 and 1215, one or more washers may be employed between the one or more roller skids 1210 and 1215 and the bottom of the cell 1000. These washers may deflect under the load of the cell 1000 and / or provide a form of suspension and can affect load sharing between the one or more roller skids 1210 and 1215, in some embodiments. In some embodiments, the washers may be of Belleville or similar type. Washers deflect more when there is greater load placed on them, so when one of the roller skids 1210 and 1215 travels over a high spot it may take more of the load of the cell 1000 compressing the washer further, so the other roller skids 1210 and 1215 may have reduced loads, but the other washers may expand and carry some of the load. In some embodiments, the washer may give a maximum deflection of 6mm which may be below the expected maximum loading condition of the load being spread over three roller skids 1210 and 1215.

[0155] In some embodiments, tongue and groove, positioning pins, and / or other alignment means may be implemented to guide the cell 1000 into position at the port or other locations in which the boom 100 (FIGs. 1-2) is expected to operate. In some embodiments, the roller skids 1210 and 1215 can locate into position about three points. In some embodiments, the far points are aligned into position first, and then the skids rotated to stop against the third point. These points may have catches that retain the roller skids 1210 and 1215 during transport and if one of the feet is unweighted during installation.

[0156] Jacks 1220 may be used, in some embodiments, to bring the cell 1000 into vertical position. In some embodiments, a set of eight jacks 1220 may be used together with individual control through one or more pumps to lift the cell 1000 into position. Figure 24 depicts an embodiment of a system utilizing eight jacks 1220. The loading method of the jacks 1220 mean they do not need to be bolted into position, in some embodiments. Some embodiments may use other lift mechanisms as required for the particular application.

[0157] If the cell 1000 was transported via roller skids 1210 and 1215, the roller skids 1210 and 1215 may be removed. Leveling wedges or other means may be utilized to level the cell 1000, distribute the weight of the cell 1000, and secure the cell 1000 into position. In some embodiments, inclinometers installed on the cell 1000 provide information about the levelness of the installation of the cell 1000. One or more leveling wedges may then adjusted to give fine adjustment of the flatness of the cell 1000, in some embodiments. Some embodiments may utilize an external remotely operated vehicle (ROV) during placement. In some embodiments, it is important that both the internal carriage rail and the cell 1000 are aligned and are straight and parallel. In some embodiments, one or more inclinometer tools may be placed on the rails and / or in the cell 1000 for fine adjustment.

[0158] Figures 25 through 31 depict exemplary steps for cell 1000 installation shown from top and side views.

[0159] Figure 25 depicts an exemplary step 1 from the top and side. In step 1, the cell 1000 is brought into rough alignment. In the depicted embodiment, a tongue and groove feature 1225 is used to aid in initial alignment of the cell 1000. Roller skids 1210 and 1215, and / or other mobility system(s), may be used to transport the cell 1000 into position. In some embodiments, the cell 1000 is lined up on pins 1240a, 1240b.

[0160] Figure 26 depicts an exemplary step 2 from the top and side. In step 2, the adjustable positioning pins 1240a, 1240b further constrain the cell 1000 positionagainst the fork features 1245a, 1245b as the cell 1000 is brought further into alignment.

[0161] Figure 27 depicts an exemplary step 3 from the top and side. In step 3, once the positioning pins 1240a is fully engaged with the fork 1245a, the cell 1000 is able to rotate about the pin 1240a to complete alignment.

[0162] Figure 28 depicts an exemplary step 4 from the top and side. In step 4, the cell 1000 is pushed against the adjustable end stop. Figure 29 depicts an exemplary step 5 from the top and side. In step 5, one or more pins 1240a, 1240b are installed in the forks 1245a, 1245b to keep the cell 1000 in position. Once secured, one or more jacks 1220 can be installed to adjust the height of the cell 1000. The one or more roller skids 1215, and or other mobility system(s), may then be removed. The one or more jacks 1220 may then be used to lower the cell 1000 to the appropriate processing height onto the leveling wedges 1235. In some embodiments, the objective of the cell 1000 placement is to place the rail in the correct position relative to a port, and for the rail to be as straight and parallel as possible. The goal of the leveling system is to keep the rail as true along its length as possible.Precision leveling wedges 1235 may be used as feet and serve to enable the cell 1000 to be precisely leveled.

[0163] Figure 30 depicts an exemplary step 6 from the top and side. In step 6, once the cell 1000 is fully positioned and secured, the bellows 1250 may be extended from the processing area access point 1230 to the cell opening 1015. Figure 31 depicts an exemplary step 7 from the top and side. In step 7, the camlocks are activated to secure the bellows 1250 to the cell opening 1015. In this step, the leveling wedges 1235 may be finely adjusted to ensure accurate positioning of the cell 1000. In some embodiments, the cell 1000 may be positioned completely level with the aid of leveling tools such as one or more inclinometers. In some embodiments, one or more inclinometers may be bolted directly to the cell 1000.

[0164] In some embodiments, the cell 1000 may be held in place using clamps and bolts. These bolts may be inserted into the ground or other support means after the cell 1000 has been placed, ensuring that the bolt alignment is correct. In some embodiments, one or more clamps may be used to hold the cell 1000 at least one of vertically and horizontally.Cable Management

[0165] In some embodiments, one or more of the cables may run in J-hooks. In some embodiments, the shape of the hooks allows for the cables to be laid into the cable support. In some embodiments, the system relies on the weight of the cableto retain in place, it is easy to remove the cables by lifting vertically. The dexterous manipulator 1100 (FIG. 22) can perform this task. In some embodiments, the dexterous manipulator 1100 (FIG. 22) may perform this task with the bare manipulator grip where reach allows. In some embodiments, a long shepherd’s hook style tool is provided to lift out cable from the corners of the cell 1000 and from the ceiling.Pressure Regulation

[0166] In some embodiments, one or more quick-connect nitrogen interfaces may be implemented for pressure regulation. In some embodiments, a double containment gated vented airlock may be included to allow for contamination control when the boom 100 is not deployed. In some embodiments, the cell 1000 may operate at a positive pressure (up to 70mbar(g)) when the boom 100 is deployed. In some embodiments, the cell 1000 will operate at a negative pressure (up to -10mbar(g)) when the boom 100 is retracted. In some embodiments, the quantity of pressure control inlets and outlets is dependent on application flow rates.Radiation Tolerance

[0167] In some embodiments, one or more of the components within the cell may need to be rated to a certain level of radiation tolerance. In some embodiments, in-cell equipment, including the boom 100 (FIG. 1) may be able to operate in a dose rate of 20mSv / hr or an accumulative dose of lOOGy. In some embodiments, in-cell equipment, including the boom 100 (FIG. 1) may be able to operate in a dose rate of 500mSv / hr or an accumulative dose of IMGy. In some embodiments, one or more components may be composed of steel and / or aluminum. In some embodiments, one or more cables may have a polyurethane jacket. In some embodiments, e-chain(s) are composed of igumid G (igus®).Safety Features

[0168] In some embodiments, one or more redundancies exist throughout the system to reduce the risks of failure. In some embodiments, a manual drive is incorporated on one or more of the actuators in the system to enable the system to be moved or fail in a safe position in the event of system failure. In some embodiments, the cell is fitted with an isolation valve. In some embodiments, the isolation valve is a gate valve. The isolation valve may be used for maintaining confinement of the cell.

[0169] In some embodiments, the system comprises a foot assembly. The foot assembly is used to stabilize the system when performing cutting operations. Load on the foot may be monitored by a load sensor.

[0170] In some embodiments, the yaw axis comprises a torque arm restraint system that can disengage the drive train and allow the yaw axis to articulate freely which allows the boom to be recovered in the event of a failure that renders the axis immobile. In some embodiments, in the event of wrist failure the wand, tools, and / or the end effector interface can be jettisoned using one or more of a sacrificial bolt or a guillotine. In some embodiments, the guillotine and sacrificial bolt may be reset remotely.Control

[0171] One or more control systems may be used to manage and control the LRM, the dexterous manipulator system, and / or other cell operations. The control system(s) may be one or more of local and remote to the cell 1000 (FIG. 20) and / or the operating space. One or more of monitoring and control operations may be performed locally, remotely, and / or may be mobile. Mobile monitoring and / or control may be implemented using one or more mobile devices such as smart phones, tablets, laptops, moveable desktop computer workstations, and wearable computing devices. In some embodiments one or more operators may be equipped with one or more wearable devices, or other mobile devices, that provide feedback to the operator(s). For instance, a vibration and / or audible alert may be used to provide warnings to an operator. In some embodiments, the system is manually operated by one or more operators on-site.

[0172] In some embodiments, the system comprises one or more controllers. In some embodiments, one or more of the controllers are programmable logic controllers. In some embodiments, one or more of the controllers are high-speed controllers. An embodiment of the control system 1200 is depicted in Figure 34. The boom 100 may comprise one or more sensors 1280, one or more actuators 1285, one or more transceivers 1290, and a control system 1200. The control system 1200 may comprise one or more processors 1211, one or more user interfaces 1221, one or more transceivers 1240, one or more programmable controllers 1251, a memory 1260, and one or more remote control stations 1270. A programmable controller 1251 provides for a flexible means of manipulation of the boom 100 and / or tools allowing for a best -fit control solution for the equipment. The one or more remote control stations 1270 may provide custom operator interfaces. The one or more interfaces 1220 may comprise one or more of displays, touchscreens, joysticks, buttons, toggles, switches, and voice input for equipment control. In someembodiments, the interface 1221 may be projected such that an operator may operate the boom 100 (FIGs. 1-2) from inside a virtual 3D map of the operating space.Control Modes

[0173] In some embodiments, control modes may include one or more of synchronized position, velocity, an teach-repeat. In synchronized position boom joints 311, 312, 313, 314, 315, 316, and 317 (FIGs. 5-6) are driven to specified position values in a synchronous manner with all joints 311, 312, 313, 314, 315, 316, and 317 (FIGs. 5-6) completing their respective moves simultaneously. In velocity mode, joints311, 312, 313, 314, 315, 316, and 317 (FIGs. 5-6) are assigned to a control means, such as a joystick, in some embodiments, with joint velocities based on joystick axis deflections. In teach-repeat mode there is automated position control using previously recorded sets of joint position values to move the boom 100 (FIGs. 1-2) to a set of pre-defined positions. In some embodiments, one or more graphical user interfaces may display one or more of joint actual position(s), joint target position(s), joint velocity(ies), warnings, map(s), camera view(s), and / or various controls.

[0174] In some embodiments, if the positioning system requires a minimum accuracy to be considered successful (minimum 100 mm spherical radius, in some embodiments), compensation techniques may need to be implemented to ensure that the positional error may be kept to a minimum when reaching unpredicted locations. In some embodiments, if the locations to be reached were only a predefined set of points, a compensation could be performed either before-hand or in a mock-up. In some embodiments, when the boom 100 (FIGs. 1-2) is required to navigate to new locations kinematic compensation techniques need to be implemented.

[0175] Figure 33 depicts an embodiment of an iterative approach to obtain the forward kinematics with deformations for the boom 100 (FIGs. 1-2). In some embodiments, a 3D map of deformations depending on the configuration of the center of mass may be generated and used as a compensation technique. In some embodiments, a 3D map may be needed to account for the wrist tilt. In some embodiments, the 3D map may involve the displacement of the boom 100 (FIGs 1-2) to at least 150 positions and the measurement of the deformation at those positions. In some embodiments, this may require some training time after the boom 100 (FIGs. 1-2) construction. In some embodiments, using a correlation with the combination of the center of mass location and the end-effector location would match the results more accurately.

[0176] In some embodiments, compensation of the deformation may be carried out via stiffness matrices. In some embodiments, the deformation provided using these matrices can be fed back to the kinematic model to correct the estimated positions.

[0177] In some embodiments, independently of the kinematic strategy that is employed on the final implementation, the boom’s 100 (FIGs. 1-2) forward kinematic (if no deformations were considered) is easy to compute and provides the position and orientation of the end effector with a given set of joints values. In some embodiments, the inputs to the algorithm are the joints values as used during the creation of teach files for each desired position. In some embodiments, these are used by a dynamic model of the boom 100 (FIGs. 1-2) to calculate the torques reflected on each joint 311, 312, 313, 314, 315, 316, and 317 (FIGs. 5-6). In some embodiments, if in static position, where joints speeds and acceleration are zero, this model reflects the effect of gravity. In some embodiments, the output of the boom’s inverse dynamics are the torques on each joint due to the weight and inertia of each link.

[0178] An embodiment: Starting from the last link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6), and going backwards until the first link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6), the deformation of each link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) is calculated. The deformation of a rigid link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) is equivalent to a new rigid link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) with the shape of the deformed link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6). The deformation of the last link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) will affect how its previous link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) is affected by the weight and inertia of it. Thus, the new deformed link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) may be used to recalculate the torques on the previous link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6). This step may be repeated until the first link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) is reached. Then, a new configuration of the boom 100 (FIGs. 1-2) may be calculated with the deformed links lengths and orientations. With this, the forward kinematics of the deformed model will output the position of the end effector.

[0179] In some embodiments, the key point of the process is to be able to calculate accurately the deformation of each link 301, 302, 303, 304, 305, 306 (FIGs. 5-6) and joint 311, 312, 313, 314, 315, 316, and 317 (FIGs. 5-6). In order to calculate the position of the deformed boom 100 (FIGs. 1-2), the new relative positions between the two shafts of each link 301, 302, 303, 304, 305, 306 (FIGs. 5-6)(assuming the links involved on the pan rotation) must be known for a given force and torque applied on the link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6).

[0180] In some embodiments, advanced finite element analysis software may be used to create the stiffness matrix for each link 301, 302, 303, 304, 305, and 306 (FIGs. 5-6) when supporting unitary forces and torques and in the presence of the required fixings. By obtaining this matrix and applying the forces and constraints the new relative position between the two axes can be calculated for any force and torque and incorporated to the kinematics. The stiffness matrix will remain constant for a given link 301, 302, 303, 304, 305, or 306 (FIGs. 5-6) and could be used in real time.

[0181] In some embodiments, a double nested loop which includes motor control and link control can be used based on two approaches:• Position based motor control, position-based link control• Speed based motor control, position-based link control

[0182] In some embodiments, the frequency analysis of the system reveals that the resonant frequencies of a single link system are far from the expected operation points. Basic dynamic compensation techniques can also be implemented to facilitate the task to the controllers and reduce the chance of vibrations, in some embodiments.Boom Control System

[0183] Operator(s) may control the boom using one or more of three control schemes, in some embodiments: Teach-Repeat, Joint Velocity Control, and Synchronized Joint Position Control.

[0184] In some embodiments, a teach-repeat file system allows an operator to record a sequence of robot poses, which can be executed using a repeat file player. The operator can use the HMI to control either a virtual boom or the actual boom 100 (FIG. 1) via the joint velocity or synchronized joint position control modes. At any time, the current position of each boom joint can be stored as a taught point. A taught point is stored as a start point, check point, fly point or rest point:• Start point - The repeat-file player will move the boom to this initial position before starting a boom position repeat sequence.• Check point - The repeat-file player will move the boom 100 (FIG. 1) to this point, bring the velocity of all joints to zero, then continue to the next taught point.• Fly point - The repeat-file player will use this point to form a spline with the next taught point and the current joint position. The boom joint then follows the path defined by the spline in one continuous movement. As a result, the boom 100 (FIG. 1) does not come to rest at fly points and will not necessarily pass through the point defined in the teach-repeat file. Multiple fly points can be used in sequence to form more complex splines.• Rest point - The repeat-file player will move the boom 100 (FIG. 1) to this point, then await operator input before continuing to the next point (if one exists).

[0185] Up to 100 fly points may be used in sequence to form one continuous boom 100 (FIG. 1) movement (i.e., before a rest or a check point), in some embodiments. In some embodiments, one or more taught points may be stored in a tab delimited text file and may be edited or added to using a text file editor. In some embodiments, moves between taught points are executed by the repeat file player, using synchronized joint position control.

[0186] In an embodiment of a Joint Velocity Control system, operator(s) can assign up to three boom joints to either a physical joystick on the BCG workstation 1320 (FIG. 34) or to a virtual joystick on the boom HMI. Other locations are possible. The velocity of each of these joints can then be controlled using the joystick (or other control means), in some embodiments.

[0187] Joint velocity control may be helpful for alignment of boom end-effectors.In some embodiments, they may need to be used with caution for the rear-most joints, as small movements of the rear-most joints may result in large movements of the boom tip.

[0188] In an embodiment of a Synchronized Joint Position Control system, operator(s) can specify a target position for one or more joints using the HMI GUI. The resulting boom target position may be displayed in the VR environment (as a ‘ghost’ 2nd image of the boom), in some embodiments. If the operator is satisfied with the resulting boom target position in VR, the operator can execute the command to move all selected joints synchronously; all selected joints will move to their respective target position within the period of the slowest moving joint (the joint which travels the longest distance moving at full speed).

[0189] In some embodiments, the teach-repeat file system is simply an automated synchronized joint position control mode, with the repeat file player issuing multiple synchronized joint position commands in sequence from the list of positions in the teach-repeat file. The boom 100 (FIG. 1) will therefore move in thesame manner in teach-repeat mode, i.e., all selected joints will move to their respective target position within the period of the slowest moving joint.Boom HMI

[0190] The graphical user interface (GUI) allows the operator to control the position of boom system joints using one of the control scheme embodiments. In some embodiments, the GUI may display boom status information, e.g., joint actual positions, joint target positions, joint velocities, etc. in some embodiments, the GUI may also display warnings and errors to make the operator aware of any issues with communication, the VR, the motion controller, etc. In some embodiments, the GUI may contain an interface to the repeat file player, which allows the operator to select a previously created teach-repeat file and execute it. in some embodiments, the operator may also save teach points via the GUI. In some embodiments, the operator may execute synchronized joint position commands and assign boom joints to the physical or virtual joystick for joint velocity control using the GUI. In some embodiments, the current state of the boom control system may be displayed on the GUI, indicating the status of the boom state machine.HMI Backend / Boom High-Level Controller (HLC)

[0191] In some embodiments, the HMI backend contains the boom system HLC. In some embodiments, the HMI backend is responsible for processing boom position commands and generating the relevant instructions to send to the motion controller based on kinematic and deflection calculations. In some embodiments, the HLC is also responsible for relaying status information of control equipment to the HMI GUI and responding to operator GUI inputs.State Machine

[0192] In some embodiments, the high-level behaviour of the boom system may be governed by a state machine. States for ‘simulation mode’ and ‘motion enabled mode’ allow the operator to provide position commands to the actual and virtual booms respectively, in some embodiments. States may also exist for ‘system ready’, ‘system e-stopped’, ‘teach-repeat mode’, ‘synchronized joint position mode’ and ‘joint velocity mode’, in some embodiments.Condition Monitoring

[0193] In some embodiments, fault conditions of control system equipment may be monitored in the Boom HLC. In some embodiments, part of this condition monitoring will involve identifying when a boom joint has collided with the operating environment. In some embodiments, current limits placed on the joint motors may ensure that when a joint is driven against a surface, resulting in amotor current increase, the e-stop may be triggered. In some embodiments, this may be supplemented with collision detection warnings from the VR to avoid any damage to the boom 100 (FIG. 1) from collisions.Simulation Mode

[0194] In some embodiments, to aid in the planning of operations and the creation of teach files, the boom HMI may have the option to run in 'simulation mode'. In simulation mode, any position or velocity commands the operator(s) generate are not sent to the boom motion controller but are instead processed in the HMI back-end, which will contain a ‘virtual LLC’ used to drive a 'virtual boom', in some embodiments. In some embodiments, position feedback from the virtual boom is generated in response to the commands on the virtual boom and is processed in the HLC in the same way as position feedback from the actual boom 100 (FIG. 22); i.e. position data is displayed on the HMI GUI and the position of the boom model in the VR is updated, in some embodiments, this allows the operator(s) to trial boom 100 (FIG. 22) movements and develop new operations using the VR environment before attempting them with the actual boom 100 (FIG. 22).Motion Control / Boom Low-Level Controller (LLC)

[0195] In some embodiments, joint motors may be controlled by the boom system LLC, running on a Delta Tau PMAC controller (in some embodiments), via signal power amplifiers / inverters. In some embodiments, position feedback is provided by resolvers. In some embodiments, the boom tip is accurate to a position of + / -100mm. In some embodiments, for joints that introduce a negligible position error, the resolver used for motor commutation may be used to provide joint position feedback to the boom control system. Where a joint introduces a significant, non-characterizable position error, a resolver on the output shaft of the joint may be used for position feedback, in some embodiments.Dexterous Manipulator Control Systems

[0196] In some embodiments, control may be effected using master / slave (local / remote) manipulation means. In such embodiments, the master is considered the local system and the slave is considered the remote system since the slave performs operations remotely in the operating space from the local control station. In some embodiments, the control system may comprise a “man-in-the-loop” system. In such embodiments, an operator may control a master system that is remote to the workspace. As the operator moves and controls the master (local) system, the slave (remote) system may respond instantly and exactly. One or more sensors located at least one of in the workspace and on the boom 100 (FIG. 22) mayprovide feedback to the operator. In some embodiments, one or more sensors on or in the vicinity of the boom 100 (FIG. 22) may provide haptic and other feedback to the operator to simulate any resistance or other forces acting on the boom 100 (FIG. 22). In some embodiments, the boom 100 (FIG. 22) may not respond if the master directs it to perform a task that is not possible or will damage the boom 100 (FIG. 22) or the workspace. For instance, if the master directs the boom 100 (FIG. 22) to move outside of its range of motion or the extents of the workspace, it may move to the extent of its range of motion or the workspace and no further. Some embodiments may incorporate additional safety mechanisms such as the slave not responding if the master is moved too rapidly. In some embodiments, the master system is an exact replica, which may be scaled in size, of the slave system. In some embodiments, the master system is wearable, for instance on an operator’s arm.

[0197] In some embodiments, the dexterous manipulator control system comprises an HMI, High-Level Controller (HLC), and a Low-Level Controller (LLC) for each manipulator. In some embodiments, the dexterous manipulator HMI may be used by the operator to establish connections to the manipulator (s). In some embodiments, the dexterous manipulator HMI may provide ancillary controls for the bilateral system (brake control, tool weight compensation, etc.). In some embodiments, the HLC is responsible for establishing the bilateral link between the local and remote manipulators, perform kinematic calculations to produce force / torque commands, and perform condition monitoring of the manipulators. In some embodiments, the LLCs are responsible for controlling the manipulator motors and relaying position and status information to the HLC.Control Room

[0198] Figure 34 depicts an embodiment of a control room 1300 layout. Each workstation is labeled by operator role. Control of one or more of the boom 100 (FIGs. 1-2), dexterous manipulator 1100 (FIG. 22), and Virtual Reality (VR) systems may be carried out from the control room. In some embodiments, the control room 1300 comprises one or more of control desk(s), HMI monitor(s), camera outputs, dexterous master manipulator station. Dexterous manipulator control cubicle, communications cubicle, and or LV power supply cubicle. In some embodiments, the control room 1300 further includes virtual reality (VR) systems and emergency stop systems. In some embodiments, one or more of the cubicles and / or workstations in the control room may be designed to European Standards, or other regulated or non-regulated standards. In some embodiments, one or more of the cubicles and / or workstations may use IEC components and require a 400Vac 3-phase or 230Vac 1-phase supply. To achieve this a three-phase transformer may be used with a 200Vac primary and a 400Vac 3-phase (230Vac 1-phase) secondary in a star neutral configuration, in some embodiments.Boom Control Operator (BCO) Workstation

[0199] In some embodiments, the BCO workstation 1320 may contain one or more computing devices (such as PCs, laptops, smart phones, or tablets) running the boom system HMI. In some embodiments, the boom system HMI may be used to control the boom and end-effectors stored in the cell 1000 (FIG. 20) and perform condition monitoring. In some embodiments, a joystick is provided for manual movement of boom joints 311, 312, 313, 314, 315, 316, 317 (FIGs. 5-6).Responsible Officer (RO) Workstation

[0200] In some embodiments, the RO workstation 1330 may contain one or more computing devices (such as PCs, laptops, smart phones, or tablets) running a VR client program to display VR views to operators during operations. In some embodiments, the one or more computing devices at the RO workstation 1330 may also be used to process sensor data collected during operations and update PCV environment model on the VR server using this data. This process will not be carried out during operations, in some embodiments.Deputy Responsible Officer (DRO) Workstation

[0201] In some embodiments, the DRO workstation 1340 may contain one or more computing devices (such as PCs, laptops, smartphones, or tablets) running the dexterous manipulator HMI. The dexterous manipulator HMI may be used to enable and provide functionality to the dexterous manipulator 1100 (FIG. 22).

[0202] In some embodiments, the DRO workstation 1340 may also contain equipment for controlling the viewing and lighting system, allowing the DRO 1340 to operate one or more cameras and lights and may select where camera views are displayed on the monitor wall.Dexterous Manipulator Operator

[0203] In some embodiments, a remote portion of a dexterous manipulator 1100 (FIG. 22) is located in the cell and a local portion may be located remotely from the environment. The local manipulator may be used to control the remote dexterous manipulator 1100 (FIG. 22), in some embodiments.

[0204] In some embodiments, manipulator kinematics are based on human kinematics. In some embodiments, the local (master) manipulator may comprise interfaces on the back of the chest for the power supply, data connection, and footswitches. In some embodiments, the arms may operate independently from each other. In some embodiments, the arms each have 7 axes of motion with 7 actuators. In some embodiments, the arms are fitted with handles to aid in positioning.Monitor Wall

[0205] In some embodiments, operator(s) may use a shared wall of monitors to view VR and camera views to aid in operations. In some embodiments, eight 24” monitors in front of the local manipulator (master) will display VR and camera views required for remote dexterous manipulator operations in the environment. In some embodiments, a large monitor may be located in front of the MO 1310 and RO workstations 1330 and, in some embodiments, may display the main VR view of the PCV and Cell environments. In some embodiments, four monitors below the main VR monitor may provide supplementary VR and camera views. In some embodiments, four monitors in front of the DRO workstation 1340 may provide additional VR and camera views. Different amounts and sizes of monitors may be used.Other Equipment

[0206] In some embodiments, one or more computing devices (such as PCs, laptops, smartphones, or tablets) running the VR server may be contained within the control desk and accessible via the RO workstation 1330. Emergency-stop pushbuttons may be present on one or more control stations and on the local dexterous manipulator (master).Networks

[0207] In some embodiments, one or more of the HMIs may have separate network connections to their respective controllers. In some embodiments, one or more of the HMIs may use UDP via an Ethernet network card in their respective computing device(s) (such as PCs, laptops, smartphones, or tablets). In some embodiments, one or more of the dexterous manipulator HMI, boom HMI, VR servers and clients, viewing and lighting system and sensor data computing devices may be connected to a network switch to form a control room local area network (LAN). In some embodiments, the LAN may be used to provide the VR server with data used to update the VR model and for the VR servers to connect with VR clients.System Architecture

[0208] Figure 35 depicts an embodiment of the system architecture. The depicted architecture comprises three sections: control room 1300, plant room 1400, cell 1000, and safety system controller. The legend depicts six different line types indicating different services in the system architecture. The depicted controlroom 1300 comprises the boom operator workstation 1320, the responsible officer workstation 1330, the deputy responsible officer workstation 1340, and the dexterous manipulator operator workstation 1350.

[0209] The boom operator workstation 1320 comprises a VR Client and a boom HMI. The boom human machine interface (HMI) comprises a boom graphical user interface (GUI) and a boom high level controller (HLC). In some embodiments, the boom HMI is comprised of a graphical user interface (GUI), a HLC, and a low-level controller (LLC). The responsible officer workstation 1330 comprises a VR server and an Order Management System (GMS). The deputy responsible officer workstation 1340 comprises a dexterous manipulator carriage HMI, dexterous manipulator HMI, camera controller, and cell services HMI. The dexterous manipulator operator workstation 1350 comprises the local dexterous manipulator, the local dexterous manipulator HLC, the local dexterous manipulator LLC, and a local dexterous manipulator safety input / output (I / O).

[0210] The plant room 1400 comprises boom safety I / O, boom cubicle LLC, remote dexterous manipulator LLC, remote dexterous manipulator safety I / O, and viewing and lighting (V&L) distribution. The cell 1000 comprises the boom 100, tools, remote dexterous manipulator carriage, cell door, remote dexterous manipulator 1100, and cameras and lights.

[0211] In the depicted embodiment, the services are connected as follows:• Control room services (centerline) connect to the VR client, boom GUI, VR server, dexterous manipulator carriage HMI, and dexterous manipulator HMI.• Boom control services (thin solid line) connect to the boom GUI, boom HLC, boom cubicle LLC, tools, and boom 100.• The dexterous manipulator control services (dotted line) connects the dexterous manipulator HMI, local dexterous manipulator HLC, remote dexterous manipulator LLC, remote dexterous manipulator 1100, local dexterous manipulator, and local dexterous manipulator LLC.• The dexterous manipulator carriage control services (long dash line) connects the dexterous manipulator carriage HMI, boom cubicle LLC, and remote dexterous manipulator carriage.• Safety services (short dash line) connects local dexterous manipulator LLC, local dexterous manipulator safety I / O, safety system controller, boom safety I / O, and boom cubicle LLC.• The cell services (thick solid line) connect camera controller, V&L distribution, cameras and lights, boom cubicle LLC, and cell door.Plant Control Room

[0212] Figure 36 depicts an embodiment of plant room control. In the depicted embodiment, the control room 1300 comprises a control station, camera controller, monitors, local dexterous manipulator, viewing and lighting RX matrix, dexterous manipulator local control cubicle 1350, and emergency stop systems. In the depicted embodiment, the plant room 1400 comprises extraction device control cubicle, cell control cubicle, boom control cubicle(s), instrument control cubicle, viewing and lighting cubicle, and dexterous manipulator remote control cubicle. In the depicted embodiment, the “clean” area (outside of the enclosure) comprises a boom extraction device.

[0213] In the depicted embodiment, the control station comprises an instrument control station, boom / cell control station, and VR control station. The instrument control station may perform one or more functions comprising tool sensor(s) control, instrumentation control, and interfacing with the boom control station for position information. The boom / cell control station may perform one or more functions comprising boom control, carriage control, cell services control, boom extraction device control, emergency stop system control, monitoring of interlocks between various systems (e.g., cell and body), and communication of positional data to instruments. The VR control station may perform running VR simulations.

[0214] In some embodiments, the control station may comprise a workstation for boom / cell control, workstation for instrument control, workstation for VR simulation(s), one or more additional workstations, joystick(s) or other control means for boom control, monitor(s) for various video, imaging, VR, monitoring, and control display(s), and one or more emergency stops.

[0215] In some embodiments, a plant room 1400 may comprised one or more of the various control cubicles needed for boom operation. In some embodiments, the plant room 1400 for may be located approximately 20m away from the cell’s location. Other distances are possible. The control cubicles may provide the interface between the control room 1300 and the cell 1000 (FIG. 20). In some embodiments, the one or more systems in the plant room 1400 may be separated into one or more of the following cubicles.Boom Control Cubicle

[0216] In some embodiments, a boom control cubicle may be used to control one or more of the services required to position the boom 100 (FIG. 1) within theenvironment. In some embodiments, the boom control cubicle may also control the carriage actuation and / or final tool position. In some embodiments, it may also control one or more of the tools such as the cutting mechanism. In some embodiments, the boom control cubicles may be connected to the control room via a dedicated control network. In some embodiments, the dedicated control network may comprise one or more fiber optic cables. The boom control cubicle(s) may connect to the cell 1000 (FIG. 20) with a series of high-density control cables.

[0217] In some embodiments, depending on the number of axes to be controlled, the boom cubicle may be comprised of multiple cubicles.

[0218] In some embodiments, the control cubicle may comprise one or more of the following:• Delta-Tau drive systems (similar to dexterous manipulator topology, in some embodiments)• Output filters for drives• Various protective devices such as a Miniature Circuit Breaker or a Residual Current Operated Circuit Breaker, etc., as examples)• Safety relay for emergency stop system• Local emergency stop pushbutton• Remote I / O for controlling Hydraulic / Pneumatic Power Supply Unit (HPSU), or similar, as well as monitoring feedback for LVDTs• Fiber optic interface• Input filter• Power distribution• Input transformerCell Control Cubicle

[0219] In some embodiments, a cell control cubicle may control one or more of the services in the cell 1000 (FIG. 20) that don’t impact the position of the tool end effector. In some embodiments, this includes any actuation needed to position a dexterous manipulator 1100 (FIG. 22) within the cell 1000 (FIG. 20) (e.g., translation along rails and tilt). In some embodiments, it may also control one or more wash systems. Other operations may be included in this cubicle.Viewing and Lighting Cubicle

[0220] In some embodiments, the Viewing and Lighting (V&L) cubicle may control the one or more camera feeds and / or light sources throughout the system. One or more cameras may be placed at one or more locations in the environment, the cell 1000 (FIG. 20), and / or on the boom 100 (FIG. 1). One or more light sources may be placed at one or more locations in the environment, the cell 1000 (FIG. 20), and / or on the boom 100 (FIG. 1). In some embodiments, there may be two cameras situated on the boom 100 (FIG. 1) as well as one or more cameras located within the cell 1000 (FIG. 20) in order to observe boom 100 (FIG. 1) and manipulator operations.

[0221] In some embodiments, the V&L cubicle contains the following:• Rack configuration (19”, in some embodiments; other lengths are possible)• Video amplifier to support camera feeds (8+ camera feeds, in some embodiments; other values are possible)• One or more light controllers• Power distribution• PTZ camera controllers (able to also control non-PTZ versions)• Video over fiber interfaceDexterous Manipulator Cubicle

[0222] In some embodiments, separate control cubicles may be utilized for the local dexterous manipulator and the remote dexterous manipulator 1100 (FIG. 22). In some embodiments, this cubicle may control a dexterous manipulator 1100 (FIG. 22) whilst considering the lengths of cabling required for this system.Instrument Control Panel

[0223] In some embodiments, this cubicle may be used to convert the sensor data into fiber-optic or other forms, as necessary.Low Voltage Cubicle

[0224] In some embodiments, one or more of the cubicles in the plant room 1400 may be designed to European Standards. In some embodiments, one or more of the cubicles may use IEC components and require a 400Vac 3-phase or 230Vac 1- phase supply. In some embodiments, to achieve this a three-phase transformer may be used with a 440Vac primary and a 400Vac 3-phase (230Vac 1-phase) secondary in a star neutral configuration. In some embodiments, the low voltage (LV) cubicle distributes power to the control cubicles and system equipment.Extraction Device Cubicle

[0225] In some embodiments, a cubicle may be needed in order to drive a device which will travel along a fixed rail which will then be able to clamp onto the back of the boom 100 (FIG. 1) (after it has been disconnected from the bulkhead connector with a dexterous manipulator 1100 (FIG. 22), in some embodiments). The device may then move back along the rails, bringing the boom 100 (FIG. 1) along with it. To accomplish this, the cubicle may contain a motor drive system, in some embodiments. In some embodiments, the motor drive system may be able to drive 2-3 motors / actuators in order to perform this function.

[0226] Figure 37 depicts a schematic of the cell and connection to control cubicle(s). In the depicted embodiment, the cell 1000 comprises viewing and light infrastructure, auxiliary dexterous manipulator control, carriage, deluge wash system, cable reeler, connector interface, energy chain, ribbon cable loom, and hydraulic / pneumatic power supply unit. In the depicted embodiment, the viewing and light infrastructure comprises cell lights, cell cameras, dexterous manipulator system cameras, port clearance lights, and port clearance cameras. In the depicted embodiment, the auxiliary dexterous manipulator control comprises tilt motor with brake, tilt resolver, rail motor with brake, and rail resolver. In some embodiments, the auxiliary dexterous manipulator comprises 28 motors and 56 resolvers. In some embodiments the other in cell equipment (other than the boom) comprises 4 motors and 4 resolvers.

[0227] In some embodiments, the cell 1000 may comprise one or more of a boom carriage, dexterous manipulator 1100 (FIG. 22), cable reeler, hydraulic / pneumatic power supply unit (HPSU), one or more cameras and / or lights, instrument interface panel, and bulkhead connector plate. The boom carriage may be capable of allowing the boom 100 to move linearly along the length of the cell 1000. The dexterous manipulator 1100 (FIG. 22) may be used to perform tasks within the cell 1000. The cable reeler may be used to manage services such as fiber optic and hydraulic cables. The HPSU may be used to support shears and / or other tools coupled to the boom 100. In some embodiments, the cell 1000 may comprise water cutter services in lieu of, or in addition to, the HPSU. The one or more cameras and / or lights may be used to aid in monitoring one or more of operations in the cell 1000, operations in the working space, the environment around the cell 1000, among other areas and / or operations. The instrument interface panel, which may be mounted external to the cell 1000, in some embodiments, may be shielded. In some embodiments, sensor signals are processed within the cell 1000. Thebulkhead connector plate may be used to interface components and services within the cell 1000 (FIG. 20) to the plant room 1400 (FIG. 36).

[0228] In some embodiments, a controller monitors fault conditions. Fault conditions may include collisions of the boom with objects and boundaries in the environment. Warnings may be provided automatically if the boom 100 (FIGs. 1-2) is approaching a minimum distance from object or boundaries in the environment.Inspection

[0229] In some embodiments, a preliminary inspection is performed prior to engaging in other operations. Preliminary inspections may yield data that may be used to pre-program the boom 100 (FIGs. 1-2) to perform operations automatically. In some embodiments, operators may program an otherwise predetermined set of data into the boom 100 (FIGs. 1-2) to perform operations automatically. In some embodiments, the workspace(s) may be inspected after operations for quality control or other purposes. The controls for the end effectors and / or tools may be integrated into the controls for the boom 100 (FIGs. 1-2) and / or standalone.

[0230] In some embodiments, the environment in which the boom 100 (FIGs. 1- 2) will be deployed will be inspected and mapped prior to performance of operations. In some embodiments, a virtual reality system may provide a mock-up of the operating space. Virtual reality system embodiments are described in more detail under the heading Virtual Reality.Sensing

[0231] In some embodiments the system may comprise one or more sensors. The one or more sensors may comprise one or more of contact sensors, noncontact sensors, capacitive sensors, inductive sensors, 3D imager, camera, thermal imager, thermometer, pressure sensor, accelerometer, inertial measurement unit (IMU), rotary encoder, radiation detector, rad-hard proximity sensors, potentiometers, rotative laser, LIDAR, and strain sensors, among others. In some embodiments, one or more sensors may be used to monitor strain, torque, and pressure at one or more locations in the system as a safety mechanism to prevent catastrophic failures. In some embodiments, one or more sensors may be used to determine the position one or more sections and / or components of the system to prevent collisions with walls, the cell, or other obstacles in the environment. In some embodiments, one or more sensors may be used to measure environmental factors such as temperature, humidity, radiation, and pressure in the cell, workspace, and / or in the environment. In some embodiments, one or more of the sensors are capable of functioning in radioactive and / or corrosive environments.

[0232] In some embodiments, one or more proximity sensors may be installed on one or more of the boom and / or within the operating environment. In some embodiments, one or more proximity sensors may be installed on or recessed into the top, bottom, and / or side(s) of one or more of the links. In some embodiments, the one or more proximity sensors may serve as limit switch(es) to detect thresholds. In some embodiments, one or more limit switches may be installed on one or more of the links. In some embodiments, one or more proximity sensors may be installed in the access port or point. In some embodiments, at least one of the boom and / or dexterous manipulator can be used to deploy a tray with rollers to aid the boom in sliding through the access point or port if it touches the surface. The tray may be equipped with one or more of proximity sensors, force sensors, and / or potentiometers to quantify distance between the tray and the boom and / or may be equipped with one or more cameras, in some embodiments.

[0233] In some embodiments the system may be used for inspection. Inspection embodiments may comprise one or more sensors as detailed above. In some embodiments, the environment may be inspected prior to the operations. The inspection step may yield data that may be used to pre-program the system to perform the one or more operations automatically. In some embodiments, operators may program an otherwise predetermined set of data into the system to perform the one or more operations automatically. In some embodiments, the environment may be inspected after operations to determine if further operations need to be carried out or if the operations have been completed satisfactorily. In some embodiments, a rotative laser may be used to measure distances at the access point or port and / or within the workspace.Cameras

[0234] One or more cameras may be used with and / or coupled to the one or more components of the system. One or more cameras may be placed at one or more locations within the operating space. In some embodiments, one or more detachable cameras may be used. In some embodiments, one or more cameras may be placed near the lugs in order to optimize the space, reduce possible obstructions, and obtain a view of either side of the boom 100 (FIG. 1).

[0235] In some embodiments, one or more cameras in the system may be interchangeable. Cameras may be fixed cameras or pan, tilt, zoom (PTZ) cameras. Some imaging embodiments may include one or more additional features such as on-board lighting and microphones.

[0236] In some embodiments, one or more cameras may be operated remotely.

[0237] In some embodiments, these camera(s) may be slim profile cameras. In some embodiments, the camera(s) may be attached to a magnetic clamp to allow swapping positions during operation. In some embodiments, a dexterous manipulator may be used to activate the clamps. In some embodiments, this may be accomplished via two hex socket head screws. By rotating these screws 180 degrees, the magnetic path within the clamp is closed, increasing the magnetic force on the back side of it. This will allow to hold a camera in an appropriate position.

[0238] In some embodiments, there may be four main in-cell cameras focusing on the main activity areas necessary for operations. In some embodiments, one or more cameras may be mounted to one or more camera posts. In some embodiments, the height of one or more posts may be adjustable. In some embodiments, the dexterous manipulator may be used to change the positioning of one or more of the cameras in the cell.

[0239] An example of considerations that my need to be taken into account when mounting one or more camera using magnetics is detailed as follows. Although the main parameters of the magnetic clamp state that the maximum sideways holding force is 100 N, tests performed indicate that this force is underrated up to 30 N if exerted through a middle hole and 16 N if exerted through a threaded hole on the perimeter of the plate. In addition to this, care must be taken when using magnets in proximity to cameras. Investigations undertaken have proved that when the magnets are placed in close proximity to the central body of the camera, the image disappears. The mounting method of the cameras on the magnet should consider these factors. If in order to avoid the magnetic field to intersect with the middle section of the camera, this is mounted cantilevered from the magnet, the torque at the middle hole of the magnet cannot overcome 0.8 Nm. In some embodiments, this would mean that the camera COG can only be spaced 50 mm from this point given a weight of 1.2 kg. Generally, this distance may not be enough to guarantee a good separation that avoids the influence of the magnetic fields on the image.

[0240] In some embodiments, one or more of the cameras may include, or be colocated with, one or more light sources.

[0241] In some embodiments, the camera signal is carried over long (100m+, in some embodiments) thin cables (e.g., electrical, fiber optic, etc.). To achieve this, multiple wire / cores may be used for the same signal and / or the power input may be adjusted above the specification to compensate for voltage drop, in some embodiments.Lights

[0242] In some embodiments, LED may be used for lighting. In some embodiments, halogen lighting may be used, especially when natural lighting is a high priority. In some embodiments, one or more lights may be mounted to the walls of the cell 1000 (FIG. 20) on hooks. This allows the one or more lights to be reached and managed by the dexterous manipulator 1100 (FIG. 22). In some embodiments, the cabling may be managed using dexterous manipulator 1100 (FIG. 22) - this can potentially reuse the one or more hooks for the lights.

[0243] With three-point lights (acting light bulbs), mounted on the top of the internal walls within the cell 1000 (FIG. 20), there is adequate lighting for general operations, in some embodiments.

[0244] In some embodiments, one or more spotlights and / or on-board dexterous manipulator lights may be used. In some embodiments, the cell 1000 (FIG. 20) may be made of stainless steel. In some embodiments, positioning and type of lighting is design to reduce shine back. In some embodiments, matte paint or other means may be used to reduce reflections and / or shine. In some embodiments, the cell 1000 (FIG. 20) comprises overhead lighting.

[0245] In some embodiments, one or more lights may be detachable and replaceable such that one or more of the lights may be relocated as needed. In some embodiments, the light intensity from one or more of the lights can be varied.Virtual Reality

[0246] In some embodiments, a virtual reality (VR) model may provide the operator(s) with an approximated view of the boom and dexterous manipulator within the operating and cell environments. During operations, the VR may be used to supplement views from the viewing and lighting system, in some embodiments. Outside of operations, the VR can be used to trial boom movements and develop new operational teach files, in some embodiments.

[0247] In some embodiments, the environment model may exist on a VR server and may also contain models for the cell, boom, and dexterous manipulator. In some embodiments, VR clients may connect to the server and allow an operator to view the VR environment and generate virtual camera views from the model as it exists on the VR server, in some embodiments, position feedback from the boom and dexterous manipulator may be provided to the VR server and used to modify their respective positions in the VR model in real time.

[0248] In some embodiments, when preparing to move the boom using position control, a second 'ghost' boom may be displayed in the VR showing the finalposition of the currently selected move, allowing the operator to confirm that the final position of the move is where they expect.

[0249] In some embodiments, the boom model in the VR is commanded to move to a position that causes it to collide with part of the operating or cell environments, the VR server will generate a collision detection warning message, which may be passed to the boom HMI and displayed to the operator(s). In some embodiments, collision detection is based only on the VR environment models and does not use any feedback from the actual boom or environment. In some embodiments, collision detection utilizes information from the operating environment. In some embodiments, collision detection is also carried out in the boom HLC.

[0250] In some embodiments, the operating environment model can be updated using the sensor data collected during operations. In some embodiments, point cloud data may be used to generate meshes that can be added to the VR to improve the accuracy of the operating environment model.

[0251] In some embodiments, when the boom HMI is running in simulation mode, the functionality described in this section remains available in the VR, with position feedback for the boom instead being provided by the boom HMI back-end and not the actual boom.

[0252] The virtual reality system may comprise one or more of interference monitoring, point cloud editing, performance enhancement for large (point cloud) data sets, camera view overlays wherein one or more of the camera view overlays may be in real-time, standard views, dynamic section views of system and / or operating environment, and / or dynamic measurement on sectioned planes.

[0253] In some embodiments, a virtual reality representation of the environment may be used to provide increased situational awareness to the operator(s). In some embodiments, the virtual reality system provides a mock-up of the anticipated environment which may allow the operator(s) to safely prepare, validate, and / or rehearse a variety of procedures. In some embodiments, actual positions of the boom are updated in the virtual reality system in real time. In some embodiments, virtual camera views may be generated in order to view the virtual reality environment. In some embodiments, position feedback may be provided to the VR server from the boom and / or dexterous manipulator. This feedback may be used to modify the positions of the boom and / or dexterous manipulator in the VR model. In some embodiments, these modifications may be made in real time. In some embodiments, when preparing to move the boom using position control, a second ‘ghost’ boom may be displayed in the VR showing the final position of the currentlyselected move, allowing the operator to confirm that the final position is as expected.

[0254] If the boom is commanded to move to a position that will cause it to collide with the environment, a collision detection warning may be generated. The collision detection warning may be in one or more forms included a visual warning, auditory warning, and / or haptic warning. In some embodiments, collision detection warnings generated in the VR system may be suppressed if the operator(s) believe that such collisions will not take place in the actual environment. In some embodiments, collision detection warnings may be generated by one or more sensors in the actual environment.

[0255] In some embodiments, the virtual reality model may be updated using sensor data obtained during operations. In some embodiments, point cloud data may be used to generate meshes that can be added to the VR to improve accuracy of the model. In some embodiments, the VR model may be used in simulation mode. In simulation mode position feedback for the boom may be provided by the boom HMI interface and not the actual boom. In some embodiments, the VR system comprises both simulation and operational modes. In some embodiments, the VR displays dexterous manipulator positions in real time. In some embodiments, the VR model can be freely navigated during operations to provide a virtual view of the environment from any perspective. In some embodiments, live views from the actual working environment may be displayed in or overlayed over the VR environment. In some embodiments, robot kinematics maybe reproduced using CAD models. In some embodiments, operator(s) may iteratively generate data (uptime) and process data (down-time). In some embodiments, generated data from one or more laser scanners, photos taken with the radiation hardened camera(s), and / or notes from the operator(s).

[0256] In some embodiments, the simulator GUI may run on one or more screens. In some embodiments, collision detections may comprise two or more tiers such as clear, near collision, and collided. In some embodiments, the scene may be viewed using orthographic projection. In some embodiments, a cross section plane may be overlayed across the orthographic projection so that a sectioned view is created. In some embodiments, the sectioned view may be viewed in one or more different modes. The one or more different modes may be none wherein the background is not rendered and only cross-section lines are visible, normal where background is rendered in colour, and depth wherein background is visualized to show depth and can be configured. Depth views may be coloured to indicate the distance from the boom, in some embodiments. In someembodiments, the visualized depth is actual depth. In some embodiments, the visualized depth is based on the minimum distance from one or more objects within the environment. The distance from obstacles in the environment that will cause the collision detection system to send a warning may be one or more of variable and uniform.

[0257] In some embodiments, simulation mode may be used offline. In some embodiments, simulation mode may be used to generate teach-repeat files.

[0258] In some embodiments, one or more of the controls are protected by means of one or more of safety relay, double redundancy circuit, safety air dump valve, emergency stop button, and / or reset button.

[0259] In some embodiments, one or more lockable safety interlocks are included in the system. In some embodiments, the one or more lockable interlocks ensure the system can be shut down when a hazardous condition exists and prevented from start-up if necessary.

[0260] In some embodiments, one or more emergency stop buttons may be in the system. In some embodiments, when an emergency stop button is pressed, the system comes to a smooth and controlled halt.Virtual Barriers

[0261] In some embodiments, the operating space may be scanned using one or more sensors prior to operations to gather data which may be used to generate an electronic three-dimensional map of the operating space. When more than one sensor is used to gather data about the geometry of the operating space the data may be combined using known in the art sensor fusion techniques. Alternatively, or additionally, the three-dimensional map of the operating space may be manually generated using known information about the geometry of the space. In some embodiments, the three-dimensional map may be visible to the operator on a user interface and / or stored in memory. The operator may set a global coordinate system and one or more local coordinate systems within the space. The purpose of a three-dimensional map of the operating space is to define the boundaries of the operating space and any infrastructure or objects in the space that may restrict the boom’s range of motion in the space. Knowledge of the geometry of the operating space may be used to pre-program the boom to carry out operations automatically within the space and to avoid impact with objects in the space when carrying out operations manually.

[0262] One or more virtual barriers may be generated to prevent equipment from contacting surfaces and / or objects in the operating space to protect theintegrity of both the boom and the operating space. A three-dimensional map of the operating space defines the actual physical boundaries of the operating space. Virtual barriers define one more virtual operating zones, offset from the physical boundaries, in which operations may be safely carried out in the operating space without damage to the space or to the LRM. Virtual barriers are invisible “walls” generated either automatically by the control system using predetermined offset values and / or manually programmed or edited by an operator. Virtual barrier offset(s) may be programmed in a similar fashion as one would program the area of operations for a CNC machine.

[0263] An example virtual barrier embodiment is depicted in Figure 38. In some embodiments, an impermeable virtual barrier 1605 may be offset from one or more of the surfaces 1600a, 1600b in the operating space 1650 and may serve to prevent the LRM from advancing any closer to the one or more surfaces 1600a, 1600b. In some embodiments, an impermeable virtual barrier 1605 may be set at a minimum allowable distance from the one or more surfaces 1600a, 1600b at which operations may be safely performed. In the depicted embodiment virtual barriers are offset from a wall 1600a and an object 1600b in the operating space 1650. In some embodiments, a permeable virtual barrier 1615 may be offset from an impermeable virtual barrier 1605 or from one or more surfaces 1600a, 1600b in the operating space 1650 and may serve to provide haptic feedback and / or a warning to an operator when encountered. The warning may be one of haptic, audial, and / or visual. In some embodiments, the warning may increase in intensity as the boom moves farther into the permeable virtual barrier 1615.

[0264] In some embodiments, the haptic feedback may be in the form of resistance. For instance, as the LRM traverses through the permeable virtual barrier 1615 the resistance may increase until the boom encounters either an impermeable virtual barrier 1605 or the resistance is insurmountable. In some embodiments one or more virtual barriers may be generated automatically using predetermined values and / or manually generated by an operator. The offsets of the virtual barriers from surfaces and each other may be uniform throughout or variable. In the depicted embodiment the virtual barriers are offset farther from the object 1600b than from the wall 1600a. The one or more virtual barriers may be visible on a display.

[0265] The embodiments described above and illustrated in the figures are presented by way of example only and are not intended as a limitation upon the concepts and principles of the present disclosure. As such, it will be appreciated by one having ordinary skill in the art that various changes in the elements and theirconfiguration and arrangement are possible without departing from the spirit and scope of the present disclosure as set forth in the appended claims.Electronic Computing Device

[0266] Figure 39 shows one embodiment of an electronic computing device 101 (alternatively referred to as an electronic controller, programmable logic controller, electronic control system, or electronic computing system) that can be part of the system. The electronic computing device 101 can be used to control the system in any of the ways described above. Figure 40 shows embodiments of the devices that can be included as part of the electronic computing device 101.

[0267] The electronic computing device 101 includes one or more processors 103 (alternatively referred to as a digital processing unit or microprocessor) and memory 105 communicatively linked to each other by way of a system bus 107. In some embodiments, the electronic computing device 101 can also include one or more other interfaces and / or devices communicatively linked to the system bus 107.

[0268] For example, one or more storage devices 109 can be communicatively linked to the system bus 107 by way of one or more storage interfaces 111. One or more display devices 113 can be communicatively linked to the system bus 107 by way of one or more graphics interfaces 115. One or more input devices 117 can be communicatively linked to the system bus 107 by way of one or more input interfaces 119. One or more output devices 121 can be communicatively linked to the system bus 107 by way of one or more output interfaces 123. One or more communication devices 125 can be communicatively linked to the system bus 107 by way of one or more communication interfaces 127.

[0269] It should be appreciated that the electronic computing device 101 can have a variety of configurations. For example, in some embodiments, the various components of the electronic computing device 101 can be positioned near each other in a single housing, a few housings, a single board, a few boards communicatively linked together, or the like. In other embodiments, the various components of the electronic computing device 101 can be located remotely. For example, the one or more input devices 117 and / or the one or more output devices 121 can be located remotely or at a distance from the one or more processors 103 and / or the memory 105.Processor

[0270] Each of the one or more processors 103 is an electric circuit such as an integrated circuit that executes program instructions. The processor 103 canperform operations such as arithmetic operations, logic operations, controlling operations, and input / output (I / O) operations specified by the program instructions. In some embodiments, the processor 103 includes a control unit (CU), an arithmetic logic unit (ALU), and / or a memory unit (alternatively referred to as cache memory).

[0271] The control unit can direct the operation of the processor 103 and / or instruct the memory 105, arithmetic logic unit, and output devices 121 how to respond to instructions in the program. It can also direct the flow of data or information between the processor 103 and other components of the electronic computing device 101. It can also control the operation of other components by providing timing and control signals.

[0272] The arithmetic logic unit is an electric circuit in the processor 103 that performs integer arithmetic and bitwise logic operations. The arithmetic logic unit receives input in the form of data or information to be operated on and code describing the operation to be performed. The arithmetic logic unit provides the result of the performed operation as output. In some configurations, the arithmetic logic unit can also include status inputs and / or outputs that convey information about a previous operation or the current operation between the arithmetic logic unit and external status registers.

[0273] It should be appreciated that the processor 103 can have any suitable configuration. For example, the processor 103 can range from a simple processor specially built or configured to execute one or more programs for a specific application or device to a complex central processing unit configured to be used in a wide variety of ways and an equally wide variety of applications. Examples of processors 103 include a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a central processing unit (CPU), a field programmable gate array (FPGA) or other programmable logic device, and / or discrete gate or transistor logic. The processor 103 can also be implemented as any individual or combination of these devices.Memory

[0274] The memory 105 (alternatively referred to as primary memory, main memory, or a computer-readable medium) is a semiconductor device or system used to store information for immediate use by the processor 103. The memory 105 is generally directly accessible to the processor 103. The processor 103 can read and execute program instructions stored in the memory 105 as well as store data and / or other information in the memory 105 that is actively being operated on. The memory 105 is generally more expensive and operates at higher speeds comparedto the storage device 109. The memory 105 can be volatile such as random-access memory (RAM) or non-volatile such as read-only memory (ROM).System Bus

[0275] The system bus 107 broadly refers to the communication system through which information is transferred between the processor 103, the memory 105, and / or other components such as peripherals that can be considered part of the electronic computing device 101. The system bus 107 can include a physical system of connectors, conductive pathways, optical pathways, wires, or the like through which information travels.

[0276] The system bus 107 can have a variety of physical configurations. In some embodiments, the system bus can be configured as a backbone connecting the processor 103, the memory 105, and / or the various devices and / or interfaces as shown in the figure. In other embodiments, the system bus 107 can be configured as separate buses that communicatively link one or more components together. For example, the system bus 107 can include a bus communicatively linking the processor 103, the memory 105, and / or circuit board (the bus can alternatively be referred to as the front-side bus, memory bus, local bus, or host bus). The system bus 107 can include multiple additional I / O buses communicatively linking the various other devices and / or interfaces to the processor 103.

[0277] It should be appreciated that information shared between the components of the electronic computing device 101 can include program instructions, data, signals such as control signals, commands, bits, symbols, or the like. The information can be represented using a variety of different technologies and techniques. For example, in some embodiments, the information can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields, or the like.

[0278] The system bus 107 can also be used for other purposes besides sharing information. For example, the system bus 107 can be used to supply power from the power source 129 to the various devices and / or interfaces connected to the system bus 107. Likewise, the system bus 107 can include address lines which match those of the processor 103. This allows information to be sent to or from specific memory locations in the memory 105. The system bus 107 can also provide a system clock signal to synchronize the various devices and / or interfaces with the rest of the system.

[0279] The system bus 107 can use a variety of architectures, communication protocols, or protocol suites to communicatively link the processor 103, thememory 105, and / or any of the other devices and / or interfaces. For example, suitable architectures include Industry Standard Architecture (ISA), Extended Industry Standard Architecture (EISA), Micro Channel Architecture (MCA), Video Electronics Standards Association (VESA), Peripheral Component Interconnect (PCI), PCI Express (PCI-X), Personal Computer Memory Card Industry Association (PCMCIA or PC bus), Accelerated Graphics Port (AGP), Small Computer Systems Interface (SCSI), and the like. Suitable communication protocols include TCP / IP, IPX / SPX, Modbus, DNP, BACnet, ControlNet, Ethernet / IP, or the like.Program Instructions

[0280] The instructions stored in the electronic computing device 101 can include software algorithms and / or application programs. It should be appreciated that the software algorithms can be expressed in the form of methods or processes performed in part or entirely by the electronic computing device 101 or as instructions stored in a computer-readable medium such as the memory 105 and / or the storage device 109. Likewise, the software algorithms are shown in the flowcharts and described in the methods and / or processes.

[0281] It should be appreciated that instructions can take the form of entirely software (including firmware, resident software, micro-code, or the like), entirely hardware, or a combination of software and hardware. If implemented in software executed by the processor 103, the information may be stored on or transmitted over a computer-readable medium such as the memory 105 and / or the storage device 109. In some embodiments, the instructions can be contained in any tangible medium of expression having program code embodied in the medium. In some embodiments, the instructions can be written in any combination of one or more programming languages.

[0282] It should also be appreciated that the flowcharts, block diagrams, methods, and / or processes describe algorithms and / or symbolic representations of information operations. The algorithmic descriptions and representations are the means used by those skilled in the data processing arts to convey the substance of their work most effectively to others skilled in the art. These operations, while described functionally or logically, are understood to be implemented by software and / or hardware that can be readily and easily created from the functional or logical descriptions of the algorithms.

[0283] In some embodiments, the instructions can include firmware such as a basic input / output system (BIOS) 131, an operating system 133, one or more application programs 135, program data 137, and the like. These can be stored in the memory 105 and / or the storage device 109. In general, the instructions arestored in the memory 105 when the electronic computing device 101 is on and running or while the instructions are being used (e.g., an application program is running). Likewise, the instructions are stored in the storage device 109 when the electronic computing device 101 is off.Storage Device

[0284] Each of the one or more storage devices 109 (alternatively referred to as secondary memory, or a computer-readable medium) is a device or system used to store information that is not needed for immediate use by the processor 103. The storage device 109 can be communicatively linked to the system bus 107 by way of a storage interface 111. The storage device 109 is generally not directly accessible to the processor 103. The storage device 109 is generally less expensive and operates at lower speeds compared to the memory 105. The storage device 109 is also generally non-volatile and used to permanently store the information.

[0285] The storage device 109 can take a variety of physical forms and use a variety of storage technologies. For example, in some embodiments, the storage device 109 can be in the form of a hard disk storage device, solid-state storage device, optical storage device, or the like. Also, in some embodiments, the storage device 109 can use technologies such as a magnetic disk (e.g., disk drives), laser beam (e.g., optical drives), semiconductor (e.g., solid-state drives), and / or magnetic tape to store information.Display Device

[0286] Each of the one or more display devices 113 (alternatively referred to as a human-machine interfaces (HMI) or screens) is a device that visually conveys text, graphics, video, and / or other information. In some embodiments, the information shown on the display device 113 exists electronically and is displayed for a temporary period of time. It should be appreciated that the display device 113 can operate as an output device and / or input device (e.g., touchscreen display or the like).

[0287] The display device 113 can be communicatively linked to the system bus 107 by way of one or more graphics interfaces 115. In some embodiments, the graphics interface 115 can be used to generate a feed of output images to the display device 113. In some embodiments, the graphics interface 115 can be a separate component such as a dedicated graphics card or chip or can be an integrated component that is part of or a subset of the processor 103.

[0288] It should be appreciated that the display device 113 can include a variety of physical structures and / or display technologies. For example, in someembodiments, the display device 113 can be a screen integrated into a specific application or technology, a separate screen such as a monitor, or the like. The display device 113 can also be a liquid crystal display, a light emitting diode display, a plasma display, a quantum dot display, or the like.Input Devices

[0289] Each of the one or more input devices 117 is a physical component that provides information to the processor 103 and / or the memory 105. The input device 117 can be communicatively linked to the system bus 107 byway of one or more input interfaces 119. The input device 117 can be any suitable type and can provide any of a variety of information. For example, the input device 117 can be a digital and / or analog device and can provide information in a digital or analog format. Also, the input device 117 can be used to provide user input for controlling the electronic computing device 101 or operational input for controlling aspects of a specific application.

[0290] The input device 117 can include one or more sensors 139 and / or one or more other miscellaneous input devices 141. It should be appreciated that the input device 117 is not limited to only providing information. In some embodiments, the input device 117 can also receive information. Such devices can be considered both an input device 117 and an output device 121.

[0291] The miscellaneous input device 141 can include a variety of devices or components. In some embodiments, the miscellaneous input devices 141 can include switches such as limit switches, level switches, vacuum switches, pressure switches, or the like, as well as buttons including pushbuttons or the like. In some embodiments, the miscellaneous input devices 141 include user interface components such as a pointing device, for example a mouse, text input devices, for example a keyboard, a touch screen, or the like.Sensors

[0292] Each of the one or more sensors 139 can be used to provide information about a wide variety of measured properties. In general terms, the sensor 139 is used to measure or detect information about its environment and send the information to the processor 103 and / or the memory 105. In some embodiments, the sensor 139 can operate as a transducer and generate an electrical signal as a function of the measured property. The electrical signal is communicated to the processor 103 and / or the memory 105 where it can be used for a variety of purposes.

[0293] The sensor 139 can be a digital sensor and / or an analog sensor. For example, in some embodiments, the sensor 139 provides digital information to the processor 103 and / or the memory 105. In other embodiments, the sensor 139 provides analog information to the processor 103 and / or the memory 105. Also, in some embodiments, the information can be converted from one type to the other — e.g., from digital to analog or from analog to digital.

[0294] It should be appreciated that the information provided by the sensor 139 can be used in a variety of ways by the processor 103. For example, in some embodiments, the processor 103 can compare the information to a set point. In some embodiments, analog information is amplified before being compared to the set point.

[0295] In some embodiments, the sensor 139 can be used to measure one or more properties. For example, the sensors 139 can be used to measure position, radiation, temperature, sound, and the like.Image Sensors

[0296] In some embodiments, the sensor 139 is an image sensor used to create an image of an aspect of the system and / or process. In general, an image sensor is a device that detects and conveys information used to make an image. The image sensor converts the variable attenuation of radiation waves (infrared, visible, and / or ultraviolet spectrum radiation as well as other frequencies) into signals that convey the information.

[0297] The image sensor can be any of a variety of types of image sensors. For example, suitable image sensors include electronic image sensors such as a charge -coupled device (CCD), active-pixel sensor (CMOS sensor), or the like. The image sensor can be part of a camera or other imaging device.Temperature Sensors

[0298] In some embodiments, the sensor 139 is a temperature sensor used to measure the temperature of one or more areas in the cell or the operating environment. Temperature is the physical quantity expressing the thermal energy present in matter. In some embodiments, the temperature sensor acts as a transducer and generates an electrical signal as a function of the measured temperature.

[0299] The temperature sensor can be a contact type temperature sensor or a non-contact type temperature sensor. Contact type temperature sensors are positioned in physical contact with the material and rely primarily on conduction to detect changes in its temperature. Non-contact type temperature sensors are notpositioned in physical contact with the material and rely primarily on convection and / or radiation to detect changes in its temperature.

[0300] The temperature sensor can be any of a variety of types of temperature sensors. For example, suitable temperature sensors include thermocouples (type K, J, T, E, N, S, R, or the like), resistance temperature detectors (RTDs), thermistors, bimetallic strips, semiconductor temperature sensors, thermometers, vibrating wire temperature sensors, infrared temperature sensors, or the like.Pressure Sensors

[0301] In some embodiments, the sensor 139 is a pressure sensor used to measure the pressure of fluids such as pneumatic and / or hydraulic fluids. Pressure is an expression of the force required to stop the fluid from expanding and is expressed in force per unit area. In some embodiments, the pressure sensor acts as a transducer and generates an electrical signal as a function of the measured pressure.

[0302] The pressure sensor can be configured to measure a variety of pressures. In some embodiments, the pressure sensor is an absolute pressure sensor configured to measure the pressure relative to a vacuum. In some embodiments, the pressure sensor is a gauge pressure sensor configured to measure the pressure relative to ambient atmospheric pressure. In some embodiments, the pressure sensor is a differential pressure sensor configured to measure the difference between two pressures. In some embodiments, the pressure sensor is a sealed pressure sensor configure to measure the pressure relative to some fixed pressure other than ambient atmospheric pressure.

[0303] The pressure sensor can use a variety of pressure sensing technologies. In some embodiments, the pressure sensor can use force collecting pressure sensing technology. These types of electronic pressure sensors use a force collector such as a diaphragm, piston, bourdon tube, bellows, or the like, to measure strain or deflection due to applied force over an area. Examples of suitable force collector pressure sensors includes piezoresistive strain gauge pressure sensors, capacitive pressure sensors, electromagnetic pressure sensors, piezoelectric pressure sensors, strain-gauge pressure sensors, optical pressure sensors, potentiometric pressure sensors, force balancing pressure sensors, or the like. In some embodiments, the pressure sensor can use other properties such as density to infer pressure of a fluid.Position Sensors

[0304] In some embodiments, the sensor 139 is a position sensor configured to measure the position of the electrodes, grippers, and the like. The position sensor can be used to determine the absolute position or location of the component or the relative position or displacement of the component in terms of linear travel, rotational angle, or three-dimensional space. In some embodiments, the position sensor acts as a transducer and generates an electrical signal as a function of the measured position.

[0305] The position sensor can be a contact type position sensor or a noncontact type position sensor. Contact type position sensors are positioned in physical contact with the component to detect changes in its position. Non-contact type position sensors can detect changes in the position of the component without being in physical contact with it.

[0306] The position sensor can be any of a variety of types of position sensors and can be used to measure a variety of positions or movements including linear, rotary, and / or angular positions or movements. For example, suitable position sensors include potentiometric position sensors, inductive position sensors such as a linear variable differential transformer or a rotary variable differential transformer, eddy current-based position sensors, capacitive position sensors, magnetostrictive position sensors, hall effect-based magnetic position sensors, fiber optic position sensors, optical position sensors, ultrasonic position sensors, or the like.Light Sensors

[0307] In some embodiments, the sensor 139 is a light sensor configured to measure various aspects of the system and / or process. The light sensor can be used to determine the presence and / or intensity of light by measuring the radiant energy that exists in a certain range of frequencies, which typically include the infrared, visible, and / or ultraviolet light spectrum. In some embodiments, the light sensor acts as a transducer and generates an electrical signal as a function of the measured radiant energy.

[0308] The light sensor can include a variety of different light sensing technologies. In some embodiments, the light sensor generates electricity when illuminated. Examples of such light sensors include photovoltaic light sensors and photo-emissive light sensors. In some embodiments, the light sensor changes its electrical properties when illuminated. Examples of such light sensors include photoresistor light sensors and photoconductor light sensors.Output Devices

[0309] Each of the one or more output devices 121 is a physical component that receives information from the processor 103 and / or the memory 105. The output device 121 can be communicatively linked to the system bus 107 byway of one or more output interfaces 123. The output device 121 can be any suitable type and can receive any of a variety of information. For example, the output device 121 can be a digital and / or analog device and can receive information in a digital and / or analog format. Also, the output device 121 can be used to provide information to the user or perform various operations related to the specific application.

[0310] The output device 121 can include one or more actuators 143 and / or one or more other miscellaneous output devices 145. It should be appreciated that the output device 121 is not limited to only receiving information. In some embodiments, the output device 121 can also send information. Such devices can be considered both an output device 121 and an input device 117.

[0311] The miscellaneous output devices 145 can include a variety of devices or components. In some embodiments, the miscellaneous output devices 145 can include audio output devices such as speakers as well as other output devices.Actuators

[0312] Each of the one or more actuators 143 can be used to activate movement or an operation. In general terms, the actuator 143 is used to activate something in response to an instruction or control signal sent from the processor 103. In some embodiments, the actuator 143 can act as a transducer by receiving an electrical signal and transforming it into the desired movement or operation.

[0313] The information received by the actuator 143 can take a variety of forms and use a number of technologies. For example, the information may be in the form of an electric voltage or current, pneumatic or hydraulic fluid pressure, binary data, or the like. The information can be provided as digital and / or analog format. For example, in some embodiments, the actuator 143 receives digital information from the processor 103 or other component(s) in the electronic computing device 101. In other embodiments, the actuator 143 receives analog information from the processor 103 or other component(s) in the electronic computing device 101. Also, in some embodiments, the information received by the actuator 143 can be converted from one type to the other — e.g., from digital to analog or from analog to digital.

[0314] The actuator 143 can use a variety of energy sources to operate. For example, the actuator 143 can operate using electrical energy, hydraulic energy,pneumatic energy, thermal energy, magnetic energy, or the like. Likewise, the actuator 143 can be an electric actuator, hydraulic actuator, pneumatic actuator, thermal actuator, magnetic actuator, or the like. The actuator 143 can also be used to produce a variety of movements. For example, the actuator 143 can be used to produce linear movement and / or rotary movement.Motors

[0315] In some embodiments, the actuator 143 can include an electric motor. In general, the electric motor is a device that converts electrical energy to mechanical energy. In some embodiments, the mechanical energy produced by the electric motor is in the form of the rotation of a shaft. The mechanical energy can be used directly or converted into other mechanical movement using levers, gears, ratchets, cams, or the like. The motor can be a DC motor or an AC motor.Relays

[0316] In some embodiments, the actuator 143 can include a relay. In general, a relay is an electrically operated switch. In some embodiments, the relay includes one or more input terminals to receive information or control signals and one or more operating contact terminals electrically linked to a separate electrical device.

[0317] In some embodiments, the relays can include electromechanical relays having contacts that mechanically open and close. For example, the relay can include an electromagnet that opens and closes the contacts. In other embodiments, the relays can include solid state relays that use semiconductor properties to control the on or off state of the relay without any moving parts. Solid state relays can include thyristors and transistors to switch currents up to a hundred amps or more.Communication Devices

[0318] Each of the communication devices 125 is a physical component that allows the electronic computing device 101 to communicate with other devices, components, and / or networks. The communication device can be communicatively linked to the system bus 107 by way of one or more communication interfaces 127. The communication device 125 can include one or more wired communication devices 147 and / or one or more wireless communication devices 149.

[0319] It should be appreciated that the communication device 125 can be any suitable physical device. For example, in some embodiments, the communication device 125 is a network interface controller used to connect the electronic computing device 101 to a larger network such as a local area network (LAN), wide area network (WAN), or the Internet.

[0320] It should also be appreciated that the communication device 125 can use a variety of communication protocols. For example, in some embodiments, the wired communication device 147 can use communication protocols such as Ethernet, RS-232, RS-485, USB, or the like. Also, in some embodiments, the wireless communication devices 149 can use communication protocols such as WiFi, Bluetooth, Zigbee, LTE, 5G, or the like.Power Source

[0321] The power source 129 can be used to supply electric power to the electronic computing device 101. The power source 129 can provide any suitable type of power including AC power, DC power, or the like. The power source 129 can obtain power from any suitable source including an AC power source (standard wall outlet), DC power source (a transformer plugged into a wall outlet), battery, generator, or the like.

[0322] In some embodiments, the power source 129 includes a power supply that converts electric current from a source to a desired voltage, current, and / or frequency to power the electronic computing device 101. In some embodiments, the power supply can convert AC power ranging from 110-240 VAC to DC power ranging from 6-60 VDC.Circuit Board

[0323] The electronic computing device 101 can include one or more circuit boards (alternatively referred to as logic boards) to which one or more of the components can be coupled. For example, the processor 103, the memory 105, the storage device 109, the display device 113, the input device 117, the output device 121, the communication device 125, and / or the power source 129 can be coupled to one or more circuit boards. In some embodiments, the processor 103, the memory 105, and / or the storage device 109 can be coupled to one circuit board.

[0324] In some embodiments, the circuit board can contain a series of conductive tracks, pads, and / or other features etched from one or more sheet layers of copper laminate laminated onto and / or between sheet layers of nonconductive substrate. The conductive features can be part of the system bus 107 communicatively linking the various components of the electronic computing device 101. In some embodiments, the circuit board can be a printed circuit board. In some embodiments, the circuit board can be a motherboard.Illustrative Embodiments

[0325] The following is a description of various embodiments of the disclosed subject matter. Each embodiment may include one or more of the various features,characteristics, or advantages of the disclosed subject matter. The embodiments are intended to illustrate a few aspects of the disclosed subject matter and should not be considered a comprehensive or exhaustive description of all possible embodiments.

[0326] Pl. A system for performing one or more operations in an environment, the system comprising any combination of one or more of the following: a cell comprising any combination of one or more of the following: a length, one or more wall panels, floor, ceiling, and one or more openings, and wherein the cell contains one or more system components, the one or more system components comprising any combination of one or more of the following: a dexterous manipulator comprising any combination of one or more of the following: at least one articulating robotic arm and a manipulator carriage, the manipulator carriage being coupled to manipulator rails and configured to traverse the length of the cell, a boom comprising any combination of one or more of the following: a proximal end, a distal end, and an articulating links section comprising two or more segments, wherein the two or more segments fold back onto each other within the cell, or extend partially or fully through one of the one or more openings in the cell, a boom carriage coupled to the proximal end of the boom, boom rails, and a base, and wherein the boom carriage is operably configured to at least one of traverse the boom rails along the length of the cell or remain fixed to the base, and one or more end effectors coupled to the distal end of the boom and operable to perform the one or more operations in the environment.

[0327] P2. The system of paragraph Pl, wherein the system and the one or more system components are remotely operated.

[0328] P3. The system of paragraph Pl, wherein the one or more openings comprise a hole in the one or more wall panels.

[0329] P4. The system of paragraph Pl, wherein the one or more openings comprise a hole in at least one of the floor and the ceiling of the cell.

[0330] P5. The system of paragraph Pl, wherein the one or more wall panels are removeable to allow access to the one or more system components.

[0331] P6. The system of paragraph Pl, wherein the cell is operably configured to at least one of transport and contain the one or more system components.

[0332] P7. The system of paragraph Pl, wherein the cell is at least one of airtight and watertight.

[0333] P8. The system of paragraph Pl, wherein the cell is an intermodal shipping container.

[0334] P9. The system of paragraph Pl, wherein the one or more system components are operable in a radioactive environment.

[0335] PIO. The system of paragraph Pl, wherein all contents of the cell are operable in a radioactive environment.

[0336] Pll. The system of paragraph Pl, wherein the dexterous manipulator is operatively configured to perform maintenance functions on the one or more system components within the cell.

[0337] P12. The system of paragraph Pl, wherein the dexterous manipulator is operatively configured to perform maintenance functions on itself.

[0338] P13. The system of paragraph Pll or paragraph P12, wherein the dexterous manipulator is configured to operate remotely.

[0339] P14. The system of paragraph Pl, wherein the dexterous manipulator is capable of traversing the length of the cell and performing operations within that length.

[0340] P15. The system of paragraph Pl, wherein the dexterous manipulator is capable of performing operations at any height within the cell.

[0341] P16. The system of paragraph Pl, wherein the dexterous manipulator is capable of reaching outside the cell through the one or more openings or the one or more wall panels.

[0342] P17. The system of paragraph Pl, wherein the dexterous manipulator is capable of removing one or more of the one or more wall panels.

[0343] P18. The system of paragraph Pl, wherein the one or more end effectors comprise one or more of grippers, a waterjet, cutter, or shearing tool.

[0344] P19. The system of paragraph Pl, wherein the system comprises one or more sensors.

[0345] P20. The system of paragraph P19, wherein the one or more sensors comprise one or more of contact sensors, non-contact sensors, capacitive sensors, inductive sensors, 3D imager, camera, thermal imager, thermometer, pressure sensor, accelerometer, inertial measurement unit (IMU), rotary encoder, radiation detector, LIDAR, and strain sensors.

[0346] P21. The system of paragraph Pl, wherein the system comprises one or more imagers.

[0347] P22. The system of paragraph Pl, wherein the system comprises one or more light sources.

[0348] P23. The system of paragraph Pl, wherein the system comprises one or more cameras.

[0349] P24. The system of paragraph P23, wherein the one or more cameras may be one of fixed or pan, tilt, zoom.

[0350] P25. The system of paragraph Pl, wherein the boom is driven at least one of electrically, hydraulically, and pneumatically.

[0351] P26. The system of paragraph Pl, further comprising a wand that is coupled to the distal end of the boom.

[0352] P27. The system of paragraph P26, wherein the wand is comprised of two or more telescoping sections.

[0353] P28. The system of paragraph Pl, wherein the boom further comprises a telescoping arm coupled to the articulating links section.

[0354] P29. The system of paragraph P28, wherein the telescoping arm comprises two or more extendable telescoping sections.

[0355] P30. A system for performing one or more operations in an environment, the system comprising any combination of one or more of the following: a cell containing one or more system components, the one or more system components comprising any combination of one or more of the following: a dexterous manipulator; and a boom comprising any combination of one or more of the following: a proximal end, a distal end, and one or more end effectors, wherein the one or more end effectors are coupled to the distal end of the boom and are operable to perform the one or more operations in the environment.

[0356] P31. The system of paragraph P30, wherein the system and the one or more system components are remotely operated.

[0357] P32. The system of paragraph P30, wherein the cell comprises a length, one or more wall panels, floor, ceiling, and one or more openings.

[0358] P33. The system of paragraph P32, wherein the one or more openings comprise a hole in the one or more wall panels.

[0359] P34. The system of paragraph P32, wherein the one or more openings comprise a hole in at least one of the floor and the ceiling of the cell.

[0360] P35. The system of paragraph P32, wherein the one or more wall panels are removeable to allow access to the one or more system components.

[0361] P36. The system of paragraph P30, wherein the cell is operably configured to at least one of transport and contain the one or more system components.

[0362] P37. The system of paragraph P30, wherein the cell is at least one of airtight and watertight.

[0363] P38. The system of paragraph P30, wherein the cell is an intermodal shipping container.

[0364] P39. The system of paragraph P30, wherein the one or more system components are operable in a radioactive environment.

[0365] P40. The system of paragraph P30, wherein all contents of the cell are operable in a radioactive environment.

[0366] P41. The system of paragraph P30, wherein the dexterous manipulator comprises at least one articulating robotic arm.

[0367] P42. The system of paragraph P30, wherein the dexterous manipulator is coupled to a manipulator carriage.

[0368] P43. The system of paragraph P42, wherein the manipulator carriage is coupled to manipulator rails and operably configured to traverse a length of the cell.

[0369] P44. The system of paragraph P30, wherein the dexterous manipulator is operatively configured to perform maintenance functions on the one or more system components within the cell.

[0370] P45. The system of paragraph P30, wherein the dexterous manipulator is operatively configured to perform maintenance functions on itself.

[0371] P46. The system of paragraph P44 or paragraph P45, wherein the dexterous manipulator is configured to operate remotely.

[0372] P47. The system of paragraph P30, wherein the dexterous manipulator is capable of traversing a length of the cell and performing operations within that length.

[0373] P48. The system of paragraph P30, wherein the dexterous manipulator is capable of performing operations at any height within the cell.

[0374] P49. The system of paragraph P30, wherein the dexterous manipulator is capable of reaching outside the cell through one or more openings or one or more wall panels.

[0375] P50. The system of paragraph P30, wherein the dexterous manipulator is capable of removing one or more wall panels.

[0376] P51. The system of paragraph P30, wherein the boom further comprises two or more segments.

[0377] P52. The system of paragraph P51, wherein the two or more segments comprise articulated links that fold back onto each other within the cell or extend partially or fully through one or more cell openings.

[0378] P53. The system of paragraph P30, further comprising a boom carriage.

[0379] P54. The system of paragraph P53, wherein the boom carriage is coupled to the proximal end of the boom, boom rails, and a base, and wherein the boom carriage is operably configured to at least one of traverse the boom rails along a length of the cell and remain fixed to the base.

[0380] P55. The system of paragraph P30, wherein the one or more end effectors comprise one or more of grippers, a waterjet, cutter, and shearing tool.

[0381] P56. The system of paragraph P30, wherein the system comprises one or more sensors.

[0382] P57. The system of paragraph P56, wherein the one or more sensors comprise one or more of contact sensors, non-contact sensors, capacitive sensors, inductive sensors, 3D imager, camera, thermal imager, thermometer, pressure sensor, accelerometer, inertial measurement unit (IMU), rotary encoder, radiation detector, LIDAR, or strain sensors.

[0383] P58. The system of paragraph Pl or P30, wherein a workstation for the system contains one or more computing devices that run a human machine interface for one or more components of the system.

[0384] P59. The system of paragraph Pl or P30, wherein a workstation for the system contains one or more computing devices that run a virtual reality interface for one or more components of the system.

[0385] P60. The system of paragraph P30, wherein the system comprises one or more imagers.

[0386] P61. The system of paragraph P30, wherein the system comprises one or more light sources.

[0387] P62. The system of paragraph P30, wherein the system comprises one or more cameras.

[0388] P63. The system of paragraph P62, wherein the one or more cameras may be one of fixed or pan, tilt, zoom.

[0389] P64. The system of paragraph P30, wherein the boom is driven at least one of electrically, hydraulically, and pneumatically.

[0390] P65. The system of paragraph P30, further comprising a wand that is coupled to the distal end of the boom.

[0391] P66. The system of paragraph P65, wherein the wand is comprised of two or more telescoping sections.

[0392] P67. The system of paragraph P30, wherein the boom further comprises a telescoping arm coupled to an articulating links section.

[0393] P68. The system of paragraph P67, wherein the telescoping arm comprises two or more extendable telescoping sections.General Terminology and Interpretative Conventions

[0394] Any methods described in the claims or specification should not be interpreted to require the steps to be performed in a specific order unless expressly stated otherwise. Also, the methods should be interpreted to provide support to perform the recited steps in any order unless expressly stated otherwise.

[0395] Certain features described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, although features may be described above in certain combinations and even initially claimed as such, one or more features from a claimed combination can be excised from the combination, and the claimed combination may be directed to a subcombination or variation of a subcombination.

[0396] The example configurations described in this document do not represent all the examples that may be implemented or that are within the scope of the claims. The term “example” shall be interpreted to mean “serving as an example, instance, or illustration,” and not “preferred” or “advantageous over other examples.”

[0397] Articles such as “the,” “a,” and “an” can connote the singular or plural. Also, the word “or” when used without a preceding “either” (or other similar language indicating that “or” is unequivocally meant to be exclusive - e.g., only oneof x or y, etc.) shall be interpreted to be inclusive (e.g., “x or y” means one or both x or y).

[0398] The term “and / or” shall also be interpreted to be inclusive (e.g., “x and / or y” means one or both x or y). In situations where “and / or” or “or” are used as a conjunction for a group of three or more items, the group should be interpreted to include one item alone, all the items together, or any combination or number of the items.

[0399] The phrase “based on” shall be interpreted to refer to an open set of conditions unless unequivocally stated otherwise (e.g., based on only a given condition). For example, a step described as being based on a given condition may be based on the recited condition and one or more unrecited conditions.

[0400] The terms have, having, contain, containing, include, including, and characterized by should be interpreted to be synonymous with the terms comprise and comprising — i.e., the terms are inclusive or open-ended and do not exclude additional unrecited subject matter. The use of these terms should also be understood as disclosing and providing support for narrower alternative embodiments where these terms are replaced by “consisting of,” “consisting of the recited subject matter plus impurities and / or trace amounts of other materials,” or “consisting essentially of.”

[0401] Unless otherwise indicated, all numbers or expressions, such as those expressing dimensions, physical characteristics, or the like, used in the specification (other than the claims) are understood to be modified in all instances by the term “approximately.” At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the claims, each numerical parameter recited in the specification or claims which is modified by the term “approximately” should be construed in light of the number of recited significant digits and / or by applying ordinary rounding techniques.

[0402] All disclosed ranges are to be understood to encompass and provide support for claims that recite any subranges or any individual values subsumed by each range. For example, a stated range of 1 to 10 should be considered to include and provide support for claims that recite any subranges or individual values that are between and / or inclusive of the minimum value of 1 and the maximum value of 10; that is, all subranges beginning with a minimum value of 1 or more and ending with a maximum value of 10 or less (e.g., 5.5 to 10, 2.34 to 3.56, and so forth) or any values from 1 to 10 (e.g., 3, 5.8, 9.9994, and so forth), which values can be expressed alone or as a minimum value (e.g., at least 5.8) or a maximum value (e.g., no more than 9.9994).

[0403] All disclosed numerical values are to be understood as being variable from 0-100% in either direction and thus provide support for claims that recite such values (either alone or as a minimum or a maximum - e.g., at least <value> or no more than <value>) or any ranges or subranges that can be formed by such values. For example, a stated numerical value of 8 should be understood to vary from 0 to 16 (100% in either direction) and provide support for claims that recite the range itself (e.g., 0 to 16), any subrange within the range (e.g., 2 to 12.5) or any individual value within that range expressed individually (e.g., 15.2), as a minimum value (e.g., at least 4.3), or as a maximum value (e.g., no more than 12.4).

[0404] The terms recited in the claims should be given their ordinary and customary meaning as determined by reference to relevant entries in widely used general dictionaries and / or relevant technical dictionaries, commonly understood meanings by those in the art, etc., with the understanding that the broadest meaning imparted by any one or combination of these sources should be given to the claim terms (e.g., two or more relevant dictionary entries should be combined to provide the broadest meaning of the combination of entries, etc.) subject only to the following exceptions: (a) if a term is used in a manner that is more expansive than its ordinary and customary meaning, the term should be given its ordinary and customary meaning plus the additional expansive meaning, or (b) if a term has been explicitly defined to have a different meaning by reciting the term followed by the phrase “as used in this document shall mean” or similar language (e.g., “this term means,” “this term is defined as,” “for the purposes of this disclosure this term shall mean,” etc.). References to specific examples, use of “i.e.,” use of the word “invention,” etc., are not meant to invoke exception (b) or otherwise restrict the scope of the recited claim terms. Other than situations where exception (b) applies, nothing contained in this document should be considered a disclaimer or disavowal of claim scope.

[0405] None of the limitations in the claims should be interpreted as invoking 35 U.S.C. 112(f) unless the words “means for” or “step for” are explicitly recited in the claim.

[0406] Unless explicitly stated otherwise or otherwise apparent from context, terms such as “processing,” “computing,” “calculating,” “determining,” “displaying,” or the like, refer to the action and processes of an electronic computing device including a processor and memory.

[0407] The subject matter recited in the claims is not coextensive with and should not be interpreted to be coextensive with any embodiment, feature, or combination of features described or illustrated in this document. This is true evenif only a single embodiment of the feature or combination of features is illustrated and described.Joining or Fastening Terminology and Interpretative Conventions

[0408] The term “coupled” means the joining of two members directly or indirectly to one another. Such joining may be stationary in nature or movable in nature. Such joining may be achieved with the two members or the two members and any additional intermediate members being integrally formed as a single unitary body with one another or with the two members or the two members and any additional intermediate member being attached to one another. Such joining may be permanent in nature or alternatively may be removable or releasable in nature.

[0409] The term “coupled” includes joining that is permanent in nature or releasable and / or removable in nature. Permanent joining refers to joining the components together in a manner that is not capable of being reversed or returned to the original condition. Releasable joining refers to joining the components together in a manner that is capable of being reversed or returned to the original condition.

[0410] Releasable joining can be further categorized based on the difficulty of releasing the components and / or whether the components are released as part of their ordinary operation and / or use. Quickly releasable joining (i.e., quick-release) refers to joining that that can be released without the use of tools. Readily or easily releasable joining refers to joining that can be readily, easily, and / or promptly released with little or no difficulty or effort. Some joining can qualify as both quickly releasable joining and readily or easily releasable joining. Other joining can qualify as one of these types of joining but not the other. For example, one type of joining may be readily or easily releasable but also require the use of a tool.

[0411] Non-quickly releasable joining (i.e., non-quick-release) refers to joining that can only be released with the use of tools. Difficult or hard to release joining refers to joining that is difficult, hard, or arduous to release and / or requires substantial effort to release. Some joining can qualify as both non-quickly releasable joining and difficult or hard to release joining. Other joining can qualify as one of these types of joining but not the other. For example, one type of joining may require the use of a tool but may not be difficult or hard to release.

[0412] The joining can be released or intended to be released as part of the ordinary operation and / or use of the components or only in extraordinary situations and / or circumstances. In the latter case, the joining can be intended toremain joined for a long, indefinite period until the extraordinary circumstances arise.

[0413] It should be appreciated that the components can be joined together using any type of fastening method and / or fastener. The fastening method refers to the way the components are joined. A fastener is generally a separate component used in a mechanical fastening method to mechanically join the components together. A list of examples of fastening methods and / or fasteners is given below. The list is divided according to whether the fastening method and / or fastener is generally permanent, readily released, or difficult to release.

[0414] Examples of permanent fastening methods include welding, soldering, brazing, crimping, riveting, stapling, stitching, some types of nailing, some types of adhering, and some types of cementing. Examples of permanent fasteners include some types of nails, some types of dowel pins, most types of rivets, most types of staples, stitches, most types of structural ties, and toggle bolts.

[0415] Examples of readily releasable fastening methods include clamping, pinning, clipping, latching, clasping, buttoning, zipping, buckling, and tying. Examples of readily releasable fasteners include snap fasteners, retainer rings, circlips, split pin, linchpins, R-pins, clevis fasteners, cotter pins, latches, hook and loop fasteners (VELCRO), hook and eye fasteners, push pins, clips, clasps, clamps, zip ties, zippers, buttons, buckles, split pin fasteners, and / or confirmat fasteners.

[0416] Examples of difficult to release fastening methods include bolting, screwing, most types of threaded fastening, and some types of nailing. Examples of difficult to release fasteners include bolts, screws, most types of threaded fasteners, some types of nails, some types of dowel pins, a few types of rivets, a few types of structural ties.

[0417] It should be appreciated that the fastening methods and fasteners are categorized above based on their most common configurations and / or applications. The fastening methods and fasteners can fall into other categories or multiple categories depending on their specific configurations and / or applications. For example, rope, string, wire, cable, chain, or the like can be permanent, readily releasable, or difficult to release depending on the application.Drawing Related Terminology and Interpretative Conventions

[0418] Reference numbers in the drawings and corresponding description refer to identical or similar elements although such numbers may be referenced in the context of different embodiments.

[0419] The drawings are intended to illustrate embodiments that are both drawn to scale and / or not drawn to scale. This means the drawings can be interpreted, for example, as showing: (a) everything drawn to scale, (b) nothing drawn to scale, or (c) one or more features drawn to scale and one or more features not drawn to scale. Accordingly, the drawings can serve to provide support to recite the sizes, proportions, and / or other dimensions of any of the illustrated features either alone or relative to each other. Furthermore, all such sizes, proportions, and / or other dimensions are to be understood as being variable from 0-100% in either direction and thus provide support for claims that recite such values or any ranges or subranges that can be formed by such values.

[0420] Spatial or directional terms, such as “left,” “right,” “front,” “back,” or the like, relate to the subject matter as it is shown in the drawings and / or how it is commonly oriented during manufacture, use, or the like. However, it is to be understood that the described subject matter may assume various alternative orientations and, accordingly, such terms are not to be considered as limiting.

Claims

WHAT IS CLAIMED IS:

1. A system for performing one or more operations in an environment, the system comprising: a cell comprising a length, one or more wall panels, floor, ceiling, and one or more openings, and wherein the cell contains one or more system components, the one or more system components comprising: a dexterous manipulator comprising at least one articulating robotic arm and a manipulator carriage, the manipulator carriage being coupled to manipulator rails and configured to traverse the length of the cell, a boom comprising a proximal end, a distal end, and an articulating links section comprising two or more segments, wherein the two or more segments fold back onto each other within the cell, or extend partially or fully through one of the one or more openings in the cell, a boom carriage coupled to the proximal end of the boom, boom rails, and a base, and wherein the boom carriage is operably configured to at least one of traverse the boom rails along the length of the cell or remain fixed to the base, and one or more end effectors coupled to the distal end of the boom and operable to perform the one or more operations in the environment.

2. The system of claim 1, wherein the system and the one or more system components are remotely operated.

3. The system of claim 1, wherein the one or more openings comprise a hole in the one or more wall panels.

4. The system of claim 1, wherein the one or more openings comprise a hole in at least one of the floor and the ceiling of the cell.

5. The system of claim 1, wherein the one or more wall panels are removeable to allow access to the one or more system components.

6. The system of claim 1, wherein the cell is operably configured to at least one of transport and contain the one or more system components.

7. The system of claim 1, wherein the cell is at least one of airtight and watertight.

8. The system of claim 1, wherein the cell is an intermodal shipping container.

9. The system of claim 1, wherein the one or more system components are operable in a radioactive environment.

10. The system of claim 1, wherein all contents of the cell are operable in a radioactive environment.

11. The system of claim 1, wherein the dexterous manipulator is operatively configured to perform maintenance functions on the one or more system components within the cell.

12. The system of claim 1, wherein the dexterous manipulator is operatively configured to perform maintenance functions on itself.

13. The system of any one of claims 11 or 12, wherein the dexterous manipulator is configured to operate remotely.

14. The system of claim 1, wherein the dexterous manipulator is capable of traversing the length of the cell and performing operations within that length.

15. The system of claim 1, wherein the dexterous manipulator is capable of performing operations at any height within the cell.

16. The system of claim 1, wherein the dexterous manipulator is capable of reaching outside the cell through the one or more openings or the one or more wall panels.

17. The system of claim 1, wherein the dexterous manipulator is capable of removing one or more of the one or more wall panels.

18. The system of claim 1, wherein the one or more end effectors comprise one or more of grippers, a waterjet, cutter, or shearing tool.

19. The system of claim 1, wherein the system comprises one or more sensors.

20. The system of claim 19, wherein the one or more sensors comprise one or more of contact sensors, non-contact sensors, capacitive sensors, inductive sensors, 3D imager, camera, thermal imager, thermometer, pressure sensor, accelerometer, inertial measurement unit (IMU), rotary encoder, radiation detector, LIDAR, and strain sensors.

21. The system of claim 1, wherein the system comprises one or more imagers.

22. The system of claim 1, wherein the system comprises one or more light sources.

23. The system of claim 1, wherein the system comprises one or more cameras.

24. The system of claim 23, wherein the one or more cameras may be one of fixed or pan, tilt, zoom.

25. The system of claim 1, wherein the boom is driven at least one of electrically, hydraulically, and pneumatically.

26. The system of claim 1, further comprising a wand that is coupled to the distal end of the boom.

27. The system of claim 26, wherein the wand is comprised of two or more telescoping sections.

28. The system of claim 1, wherein the boom further comprises a telescoping arm coupled to the articulating links section.

29. The system of claim 28, wherein the telescoping arm comprises two or more extendable telescoping sections.

30. A system for performing one or more operations in an environment, the system comprising: a cell containing one or more system components, the one or more system components comprising: a dexterous manipulator; and a boom comprising a proximal end, a distal end, and one or more end effectors, wherein the one or more end effectors are coupled to the distal end of the boom and are operable to perform the one or more operations in the environment.

31. The system of claim 30, wherein the system and the one or more system components are remotely operated.

32. The system of claim 30, wherein the cell comprises a length, one or more wall panels, floor, ceiling, and one or more openings.

33. The system of claim 32, wherein the one or more openings comprise a hole in the one or more wall panels.

34. The system of claim 32, wherein the one or more openings comprise a hole in at least one of the floor and the ceiling of the cell.

35. The system of claim 32, wherein the one or more wall panels are removeable to allow access to the one or more system components.

36. The system of claim 30, wherein the cell is operably configured to at least one of transport and contain the one or more system components.

37. The system of claim 30, wherein the cell is at least one of airtight and watertight.

38. The system of claim 30, wherein the cell is an intermodal shipping container.

39. The system of claim 30, wherein the one or more system components are operable in a radioactive environment.

40. The system of claim 30, wherein all contents of the cell are operable in a radioactive environment.

41. The system of claim 30, wherein the dexterous manipulator comprises at least one articulating robotic arm.

42. The system of claim 30, wherein the dexterous manipulator is coupled to a manipulator carriage.

43. The system of claim 42, wherein the manipulator carriage is coupled to manipulator rails and operably configured to traverse a length of the cell.

44. The system of claim 30, wherein the dexterous manipulator is operatively configured to perform maintenance functions on the one or more system components within the cell.

45. The system of claim 30, wherein the dexterous manipulator is operatively configured to perform maintenance functions on itself.

46. The system of any one of claims 44 or 45, wherein the dexterous manipulator is configured to operate remotely.

47. The system of claim 30, wherein the dexterous manipulator is capable of traversing a length of the cell and performing operations within that length.

48. The system of claim 30, wherein the dexterous manipulator is capable of performing operations at any height within the cell.

49. The system of claim 30, wherein the dexterous manipulator is capable of reaching outside the cell through one or more openings or one or more wall panels.

50. The system of claim 30, wherein the dexterous manipulator is capable of removing one or more wall panels.

51. The system of claim 30, wherein the boom further comprises two or more segments.

52. The system of claim 51, wherein the two or more segments comprise articulated links that fold back onto each other within the cell or extend partially or fully through one or more cell openings.

53. The system of claim 30, further comprising a boom carriage.

54. The system of claim 53, wherein the boom carriage is coupled to the proximal end of the boom, boom rails, and a base, and wherein the boom carriage is operably configured to at least one of traverse the boom rails along a length of the cell and remain fixed to the base.

55. The system of claim 30, wherein the one or more end effectors comprise one or more of grippers, a waterjet, cutter, and shearing tool.

56. The system of claim 30, wherein the system comprises one or more sensors.

57. The system of claim 56, wherein the one or more sensors comprise one or more of contact sensors, non-contact sensors, capacitive sensors, inductive sensors, 3D imager, camera, thermal imager, thermometer, pressure sensor, accelerometer, inertial measurement unit (IMU), rotary encoder, radiation detector, LIDAR, or strain sensors.

58. The system of any one of claims 1 or 30, wherein a workstation for the system contains one or more computing devices that run a human machine interface for one or more components of the system.

59. The system of any one of claims 1 or 30, wherein a workstation for the system contains one or more computing devices that run a virtual reality interface for one or more components of the system.

60. The system of claim 30, wherein the system comprises one or more imagers.

61. The system of claim 30, wherein the system comprises one or more light sources.

62. The system of claim 30, wherein the system comprises one or more cameras.

63. The system of claim 62, wherein the one or more cameras may be one of fixed or pan, tilt, zoom.

64. The system of claim 30, wherein the boom is driven at least one of electrically, hydraulically, and pneumatically.

65. The system of claim 30, further comprising a wand that is coupled to the distal end of the boom.

66. The system of claim 65, wherein the wand is comprised of two or more telescoping sections.

67. The system of claim 30, wherein the boom further comprises a telescoping arm coupled to an articulating links section.

68. The system of claim 67, wherein the telescoping arm comprises two or more extendable telescoping sections.

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