Development of a Radiological Characterization Submersible ROV for Use at Fukushima Daiichi

Nancekievill, Matthew; Jones, Ashley; Joyce, Malcolm J.; Lennox, Barry; Watson, Simon; Katakura, J.; Okumura, Keisuke; Kamada, So; Katoh, Michio; Nishimura, Kazuya

doi:10.1109/tns.2018.2858563

Cited by 30 publications

(14 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The second option relates to the assessment of settled bed behaviour in larger tanks. Multiple underwater remotely operated vehicles (ROVs) have been designed and deployed on various sites and are capable of carrying payloads such as the proposed device [27]. The prototype could be carried and detached from the carrying platform when it reaches the required position.…”

Section: Discussionmentioning

confidence: 99%

Compact Viscometer Prototype for Remote In Situ Analysis of Sludge

Fried

Cheneler

Monk

et al. 2019

Sensors

View full text Add to dashboard Cite

On the Sellafield site there are several legacy storage tanks and silos containing sludge of uncertain properties. While there are efforts to determine the chemical and radiological properties of the sludge, to clean out and decommission these vessels, the physical properties need to be ascertained as well. Shear behaviour, density and temperature are the key parameters to be understood before decommissioning activities commence. However, limited access, the congested nature of the tanks and presence of radioactive, hazardous substances severely limit sampling and usage of sophisticated characterisation devices within these tanks and therefore, these properties remain uncertain. This paper describes the development of a cheap, compact, and robust device to analyse the rheological properties of sludge, without the need to extract materials from the site in order to be analysed. Analysis of a sludge test material has been performed to create a suitable benchmark material for the rheological measurements with the prototype. Development of the device is being undertaken with commercial off the shelf (COTS) components and modern rapid prototyping techniques. Using these techniques, an initial prototype for measuring shear parameters of sludge has been developed, using a micro-controller for remote control and data gathering. The device is also compact enough to fit through a 75 mm opening, maximising deployment capabilities.

show abstract

Section: Discussionmentioning

confidence: 99%

Compact Viscometer Prototype for Remote In Situ Analysis of Sludge

Fried

Cheneler

Monk

et al. 2019

Sensors

View full text Add to dashboard Cite

show abstract

“…As the CeBr 3 detector is inherently unresponsive to neutrons, it discriminates between neutron and gamma fluxes. This radiation instrumentation was previously developed for integration with submersible robots for characterisation of the Fukushima Daiichi nuclear sites [18].…”

Section: A Radiation Data Collectionmentioning

confidence: 99%

Markov Decision Processes with Unknown State Feature Values for Safe Exploration using Gaussian Processes

Budd

Lacerda

Duckworth

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

View full text Add to dashboard Cite

When exploring an unknown environment, a mobile robot must decide where to observe next. It must do this whilst minimising the risk of failure, by only exploring areas that it expects to be safe. In this context, safety refers to the robot remaining in regions where critical environment features (e.g. terrain steepness, radiation levels) are within ranges the robot is able to tolerate. More specifically, we consider a setting where a robot explores an environment modelled with a Markov decision process, subject to bounds on the values of one or more environment features which can only be sensed at runtime. We use a Gaussian process to predict the value of the environment feature in unvisited regions, and propose an estimated Markov decision process, a model that integrates the Gaussian process predictions with the environment model transition probabilities. Building on this model, we propose an exploration algorithm that, contrary to previous approaches, considers probabilistic transitions and explicitly reasons about the uncertainty over the Gaussian process predictions. Furthermore, our approach increases the speed of exploration by selecting locations to visit further away from the currently explored area. We evaluate our approach on a real-world gamma radiation dataset, tackling the challenge of a nuclear material inspection robot exploring an a priori unknown area.

show abstract

“…This has seen the development of various kinds of mobile robots at an unprecedented pace for operations in air, land, and water. Applications for such robots include oil and gas refinery inspection [1], underwater mapping [2,3], radiation mapping [4,5], and nuclear decommissioning [6,7].…”

Section: Introductionmentioning

confidence: 99%

“…(a) Husky[8], (b) ANYmal[1], (c) CARMA 2[6], (d) Corin[13], (e) Phantom Pro 4, (f) Matrice 600 Pro, (g) AVEXIS[2], (h) BlueROV.1 https://www.dji.com/uk/phantom-4-pro/info#downloads.2 https://www.dji.com/uk/matrice600-pro/info#specs.…”

mentioning

confidence: 99%

Limitations of wireless power transfer technologies for mobile robots

2019

View full text Add to dashboard Cite

Advances in technology have seen mobile robots becoming a viable solution to many global challenges. A key limitation for tetherless operation, however, is the energy density of batteries. Whilst significant research is being undertaken into new battery technologies, wireless power transfer may be an alternative solution. The majority of the available technologies are not targeted toward the medium power requirements of mobile robots; they are either for low powers (a few Watts) or very large powers (kW). This paper reviews existing wireless power transfer technologies and their applications on mobile robots. The challenges of using these technologies on mobile robots include delivering the power required, system efficiency, human safety, transmission medium, and distance, all of which are analyzed for robots operating in a hazardous environment. The limitations of current wireless power technologies to meet the challenges for mobile robots are discussed and scenarios which current wireless power technologies can be used on mobile robots are presented.

show abstract

Development of a Radiological Characterization Submersible ROV for Use at Fukushima Daiichi

Cited by 30 publications

References 10 publications

Compact Viscometer Prototype for Remote In Situ Analysis of Sludge

Compact Viscometer Prototype for Remote In Situ Analysis of Sludge

Markov Decision Processes with Unknown State Feature Values for Safe Exploration using Gaussian Processes

Limitations of wireless power transfer technologies for mobile robots

Contact Info

Product

Resources

About