This paper concerns the design of a two-arm mobile delivery platform for application within nuclear decommissioning tasks. The adoption of the human arm as a model of manoeuvrability, scale and dexterity is the starting point for operation of two seven-function arms within the context of nuclear decommissioning tasks, the selection of hardware and its integration, and the development of suitable control methods. The forward and inverse kinematics for the manipulators are derived and the proposed software architecture identified to control the movements of the arm joints and the performance of selected decommissioning tasks. We discuss the adoption of a BROKK demolition machine as a mobile platform and the integration with its hydraulic system to operate the two seven-function manipulators separately. The paper examines the modelling and development of a real-time control method using Proportional-Integral-Derivative (PID) and Proportional-Integral-Plus (PIP) control algorithms in the host computer with National Instruments functions and tools to control the manipulators and obtain feedback through wireless communication. Finally we consider the application of a third party device, such as a personal mobile phone, and its interface with LabVIEW software in order to operate the robot arms remotely.

Abstract-The paper reviews the scope for automation and robotics in the rapidly expanding field of nuclear decommissioning. The basic strategies for decommissioning are discussed together with the essential physical steps. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure of workers to harmful radiation is discussed. The key issues surrounding radioactive materials and safe dose levels are explained. Examples of a wide range of recently developed automated technologies are provided. The paper will conclude by describing those areas that are currently the subject research and development.

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This paper reviews the design and development of a human arm-like mechanical manipulator, which is the basis of research currently being undertaken at Lancaster University, in order to address the complex tasks found in the rapidly expanding field of nuclear decommissioning. The requirements of multi-arm robot architecture for use in decommissioning tasks are discussed. The manipulators are integrated to work cooperatively and perform similar functions to humans in both scale and dexterity. The role that automation and robotics can play in enabling quicker demolition and at the same time reducing the exposure of workers to harmful radiation is examined. The key issues surrounding radioactive materials and safe dose levels are explained. The different stages of a particular system engineering process are outlined together with the essential physical steps. The paper will conclude by identifying the compliance of the system engineering used here with the requirements of designing a multi-arm robot.

The primary use of robotics in nuclear decommissioning applications is to reduce the radioactive dose levels to which workers are exposed during the decommissioning processes. There are many situations where, owing to the degree of radiation and the very long half-lives of the radioactive materials involved, robotics is the only feasible option. However, unstructured decommissioning environments pose significant challenges to the navigation, operation and control of tele-operated mobile robots and more specifically multi-arm mobile robots. Through task planning is often not achievable due to the risk of radiation and the unpredictable nature of the decommissioning workspace environment. The hazardous and unpredictability of the decommissioning environment makes real-time sensing with vision system and decision making an essential component of the multi-arm mobile robot. This paper proposes the use of a sensing strategy and visual feedback from cameras for navigation and position estimation and to provide the operator with real-time information of the target and its surrounding for controlling the multi-arm mobile robot and the successful execution of the decommissioning task.