Remote operation and robotics technologies in nuclear decommissioning projects

Michal, V.

doi:10.1533/9780857095336.2.346

Cited by 6 publications

(4 citation statements)

References 4 publications

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“…Since various operations are carried out inside the reactor building to remove the debris, it is essential to improve the environment through decontamination, concealment, and removal of radiation sources to reduce radiation levels [5]. In a highradiation environment such as the inside of a nuclear reactor building, it is dangerous for people to work directly, and because of this limitation, the development of remotecontrol devices and robots for surveying and decontaminating the inside of nuclear reactor buildings is underway [6][7][8][9][10][11]. In addition, training for operating these remotely operated devices and remotely operated robots and the development of technologies to improve their operability are also underway [12].…”

Section: Introductionmentioning

confidence: 99%

Development of a Robot for Decontamination of High Places and Decommissioning Work That Can Cope with Slopes and Steps

et al. 2023

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In this study, a robot was created to compete in the “7th Decommissioning Creative Robot Contest. The “Decommissioning Creative Robot Contest” is a robot contest in which the fields and tasks are set based on the assumption of decommissioning work at TEPCO’s Fukushima Daiichi Nuclear Power Station. The theme of this year’s competition is 3D decontamination of a highly contaminated area inside a nuclear reactor building. To solve the competition problem, we propose a robot for decommissioning work equipped with “an undercarriage mechanism that can cope with slopes and steps”, “a decontamination mechanism with two types of rotation trajectories”, and “a lifting mechanism with a high deformation rate. The undercarriage mechanism uses a four-wheel drive with infinite orbit to cope with slopes and steps. The decontamination mechanism uses two different types of orbits for decontamination: a circular rotating orbit and a longitudinal rotating orbit for rotation. For the lifting mechanism, three pantograph mechanisms were used. This study realized a control and mechanism to overcome steps and slopes, a deployment mechanism to high places, and a mechanism with two types of orbits to carefully decontaminate a large area.

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Section: Introductionmentioning

confidence: 99%

Development of a Robot for Decontamination of High Places and Decommissioning Work That Can Cope with Slopes and Steps

et al. 2023

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“…Among these substitution demands, a promising aspect is the inspection and intervention of nuclear accidents, where source locations are uncertain and high-dose ionizing radiation exists (Qian et al , 2012). To tackle the nuclear accident scenario, a great deal of effort has gone into sensory perception and operational reliability in earlier studies (Michal, 2012; Nagatani et al , 2013; Ducros et al , 2017), whereas little attention has been paid to shielding protection. These intervention systems mainly focus on environmental exploration under the low-dose circumstance in crippled nuclear plants, i.e.…”

Section: Introductionmentioning

confidence: 99%

“…In contrast to other CBRN accidents, the existence of ionizing radiation and corresponding reinforcement measures is the primary concern in nuclear disasters (Murphy et al , 2012). In terms of accident sites and irradiation levels, the emergency accidents can be broadly summarized as follows (Michal, 2012): explosion and leakage in nuclear power plants; mechanical dislocation and blockage of irradiation equipment; and theft or loss of radiation source in an industrial field. …”

Section: Introductionmentioning

confidence: 99%

Irradiation test and hardness design for mobile rescue robot in nuclear environment

Gao

Wang

Zhu

et al. 2019

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Purpose The paper aims to improve the radiation-proof capability of the self-designed mobile robot with a 7-DOF manipulator, enabling the long-playing inspection and intervention under high-dose radiation environment. In this context, gamma-ray irradiation test for electronic components and specific hardness design have also been specifically presented and discussed. Design/methodology/approach The study’s hardness design mainly focuses on shielding protection, distance protection and time protection. Irradiation test is first carried out to investigate irradiation resistance of each electronic module. Then, modular deployment and shielding calculation are completed for the point-type nuclear accidents, respectively, to achieve a robust anti-radiation design scheme. Finally, the field experiment is conducted to validate system effectiveness and good mobility, and operational practices are acquired for the realization of time protection. Findings Coupled with modular redeployment and shielding design, irradiation results illustrate the effectiveness of robotic anti-radiation design. Meanwhile, experiences and reformed measures from the field exercise implement efficient operation and radiological time protection. Research limitations/implications Considering the huge risks of high-dose source exposure, the radiation-resistance of the overall system cannot be verified in the field experiment. Fortunately, irradiation test and modular shielding calculation are conducted as a minimal validation. Practical implications The proposed anti-radiation design methods and the irradiated results can be applied to many other nuclear vehicles and manipulators for the feasible multi-layer protection and excellent mobility. Originality/value A nuclear intervention robot with specific hardness design is presented in detail in this paper. Enlightened by the idea of shielding and distance protection, a large number of electronic modules with multiple types and structures are treated and compared in irradiation experiments, while modular redeployment and retrofitting are completed to reduce irradiated damages. To achieve the effect of time protection, mobility performance and operational practices are discussed and validated in the field experiment based on the mobile system.

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“…Readers can refer to Détriché (), Desbats et al. (), and Michal () for a more complete review of robotics technologies in nuclear decommissioning. In this paper, the focus is on “upstream” characterizations and more specifically on radiological characterizations (Andrieu et al., ).…”

Section: Introductionmentioning

confidence: 99%

RICA: A Tracked Robot for Sampling and Radiological Characterization in the Nuclear Field

Ducros

Hauser

Mahjoubi

et al. 2016

Journal of Field Robotics

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Throughout the lifetime of nuclear facilities, radiological inspections are of vital importance, as controlling the radiological state of these facilities is necessary to ensure that their operations remain safe. These inspections are equally important during dismantling and decommissioning (D&D). Inspections of facilities that have contained radionuclides, particularly high activity cells, and very high activity cells are the first step when planning to carry out maintenance and D&D operations. Therefore, the development of investigation robots for hostile environments is a strategic approach in the nuclear field in order to meet these needs. The CEA and CYBERIA have worked together to develop the RICA robot (Robot d'Inspection pour Cellules Aveugles, or blind cell inspection robot), which can locate and measure the activity of radioactive sources. Since 2007, RICA is one of the strategic apparatuses that the CEA has been using for dismantling operations in its nuclear facilities. This small tracked robot was developed to offer a good level of modularity in terms of the onboard equipment able to carry out inspection and sampling missions in extremely hostile environments. To be able to do this, it can be operated either with a complete unit of radiological measurement tools or with a remote-handling arm. The measurement unit consists of a gamma camera, a gamma spectrometer, and a dose rate detector. This innovative radiological measurement unit enables in situ activity quantification and the collection of all the information necessary to interpret the radiological spectra. On the other hand, when equipped with a remote-handling arm, the unit can be used to carry out samplings, which will then be analyzed in a laboratory. This paper first presents the RICA robot, giving its main technical features. The innovative radiological measurement unit is described, explaining each of its bricks. The gamma irradiator tests that qualified the robot's functioning under irradiation are described, and the dose resistance results are analyzed. Lastly, examples of tasks in which RICA has been used in CEA nuclear facilities illustrate the robot's modularity. C 2016 Wiley Periodicals, Inc.

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Remote operation and robotics technologies in nuclear decommissioning projects

Cited by 6 publications

References 4 publications

Development of a Robot for Decontamination of High Places and Decommissioning Work That Can Cope with Slopes and Steps

Development of a Robot for Decontamination of High Places and Decommissioning Work That Can Cope with Slopes and Steps

Irradiation test and hardness design for mobile rescue robot in nuclear environment

RICA: A Tracked Robot for Sampling and Radiological Characterization in the Nuclear Field

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