Application and Standardization Trend of Maintenance and Inspection Robot (MIR) in Nuclear Power Station

Zhao, Fei; Ma, Yonggang; Sun, Yuansong

doi:10.12783/dtetr/ismii2017/16678

Cited by 9 publications

(8 citation statements)

References 12 publications

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“…In this world, there are many specific situations or extremity environment places that are too risky for people, such as search and rescue in disaster [1] , detect other planets surface [2] , explore and emergency handling in the nuclear environment [3] , anti-terrorism [4] and so on. Nowadays, the most popular method to solve these problems is to use ground mobile robotics [5] .…”

Section: Background and Motivationmentioning

confidence: 99%

Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

2022

AJCIS

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In this world, there are many dangerous and complicated environments in which humans cannot work. Mobile robots are an important method that people use to solve these problems. Hexapod robots are known for their excellent static and dynamic stability, as well as strong environmental adaptability in mobile robots. Hexapod robots play a critical role in overcoming complex and challenging terrain. The paper attempts to finish two different parts of the work. The first part is to construct a Simulink-based CORIN robot model, and the second part is to develop a foothold planning algorithm for hexapod robots. The highly visual robot model can be used to display the results of related algorithms. It can also be applied in the Simulink physical environment to simulate robot overturning recovery, robot wall walking and other advanced robot motions through the use of the contact force blocks. Moreover, for the foothold planning algorithm, a collision detection algorithm based on the distance between the feature points and the obstacles is implemented. 18 feature points are set on the CORIN robot to ensure that the robot optional footholds are all collision-free points. Based on the path length, the distance from the target point and the collision state, a cost function is established, which is used in the CORIN robot foothold path planning algorithm. Results show that based on the kinematics of CORIN robot leg and modeling method in the Simulink, a complete CORIN hexapod robot model that can be controlled by specifying the position of the end effector or setting three different revolute joint angles has been designed. Furthermore, a radical foothold planning algorithm that can avoid collisions and focus on reaching the target point is implemented.

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Section: Background and Motivationmentioning

confidence: 99%

Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

2022

AJCIS

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“…A set of corobots has also been developed at the Georgia Institute of Technology to detect and localize c and neutron sources embedded in floors [9]. However, no robots seem to have been developed for the autonomous detection of a contam ination [10].…”

Section: Since the Fukushimamentioning

confidence: 99%

A Robot to Monitor Nuclear Facilities: Using Autonomous Radiation-Monitoring Assistance to Reduce Risk and Cost

Bird

Griffiths

Martin

et al. 2019

IEEE Robot. Automat. Mag.

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Nuclear facilities often require continuous mo nitoring to ensure there is no contamination of radioactive materials that might lead to safety or environmental issues. The current approach to radiological monitoring is to use human operators, which is both time consuming and cost in efficient. As with many repetitive, routine tasks, there are considerable opportunities for the process to be improved using autonomous robotic systems. This article describes the design and development of an autonomous, groundbased radiologicalmonitoring robot, Continuous Autonomous RadiationMonitoring Assistance (CARMA), and how, when it was deployed in an active area at the U.K. 's Sellafield nuclear site, it detected and located a fixed a source embedded into the floor. This deployment was the first time that a fully autonomous robot had ever been deployed at Sellafield, the largest nuclear site in Europe. Expanding Efforts in an Increasingly Important FieldMonitoring nuclear facilities and rapidly identifying any spread of radiological materials is of global concern.

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“…It is difficult to overhaul long-distance underground pipelines [5]. During the maintenance period of long-distance deep buried water conveyance tunnel, it is difficult to drain, ventilate and traffic, and it is difficult to operate and maintain.…”

Section: Introductionmentioning

confidence: 99%

On site real-time monitoring system based on Internet of things

Tianyi¹

2022

Proceedings of the 6th EAI International Conference on IoT in Urban Space, Urb-IoT 2021, 20-21 December 2021, Shenzhen, People’

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The Pearl River Delta water resources allocation project is a water conservancy project with the largest investment, the longest water transmission line and the widest water receiving area in the history of Guangdong Province. It is a strategic project to improve the water security in the Great Bay area of Guangdong, Hong Kong and Macao. It is a water transfer project with the highest water transmission pressure and the longest shield tunnel in the world. It is a long-distance deep tunnel water transmission project in the core area of the Pearl River Delta, It is also an ecological water distribution project in the Pearl River Delta.

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Application and Standardization Trend of Maintenance and Inspection Robot (MIR) in Nuclear Power Station

Cited by 9 publications

References 12 publications

Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

Design of Simulink-based 3D Hexapod Robot Model and Implementation of Hexapod Robot Foothold Planning

A Robot to Monitor Nuclear Facilities: Using Autonomous Radiation-Monitoring Assistance to Reduce Risk and Cost

On site real-time monitoring system based on Internet of things

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