Demonstration of an ITER relevant remote handling equipment for Tokamak close inspection

Keller, D.; Perrot, Y.; Gargiulo, L.; Friconneau, J.P.; Bruno, V.; Le, R.; Soler, B.; Itchah, M.; Ponsort, D.; Chambaud, Pascal; Bonnemason, J.; Lamy, S.; Measson, Yvan

doi:10.1109/iros.2008.4650808

Cited by 11 publications

(14 citation statements)

References 5 publications

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“…The closest solutions, albeit not for cleaning, are long reach robots intended for nuclear inspection [9] [10]. These manipulators have long reaches (>5m), while having low weight (<100kg) .…”

Section: Long Reach Manipulators In the Literaturementioning

confidence: 99%

Development and validation of robotic cleaning system for fish processing plants

Bjørlykhaug

Giske

Løvdal³

et al. 2017

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

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Abstract-This paper presents the development of a robotic cleaning solution for fish processing plant. The project is currently at the stage of a first prototype consisting of a serial manipulator, a vertical linear axis and a rotational axis for the vertical axis. The purpose of the prototype is to validate the cleaning quality of a robotic cleaning solution. A cleaning solution will have to spray equipment and machines in the processing plant with chemicals and water to remove fish residue and bacterias, and special design considerations have to be taken with regards to water proofing and corrosion resistance. In order to validate such a system, a cleaning test were performed on an electric stunner, a machine typically found in salmon slaughterhouses. Results from the cleaning test shows that robotic cleaning of fish processing equipment can deliver an acceptable cleaning result. However, several issues related to making a system that can clean a whole plant still exists. Further work will require the development of a custom serial manipulator and a custom linear axis for navigating the manipulatorThe main purpose of this research is to present design considerations and investigate the validity of a robotic cleaning solution aimed at fish processing plants. This research is at TRL 5 and will enable further work with robotizing cleaning in challenging areas.

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Section: Long Reach Manipulators In the Literaturementioning

confidence: 99%

Development and validation of robotic cleaning system for fish processing plants

Bjørlykhaug

Giske

Løvdal³

et al. 2017

2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

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“…In April 2008, a first test was performed under vacuum conditions, at room temperature, without taking into account the cleanliness of the robot and pollution of the vessel (Keller et al, 2008).…”

Section: Experimental Field Testsmentioning

confidence: 99%

Long‐reach articulated robots for inspection and mini‐invasive interventions in hazardous environments: Recent robotics research, qualification testing, and tool developments

Perrot

Gargiulo

Houry

et al. 2011

Journal of Field Robotics

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The Interactive Robotics Laboratory of CEA LIST is in charge of the development of remote handling technologies to meet energy industry requirements. This paper reports the research and development activities in advanced robotics systems for inspection or light intervention in hazardous environments with limited access such as blind hot cells in the nuclear industry or the thermonuclear experimental Tokamak fusion reactor. A long-reach carrier robot called the articulated inspection arm (AIA) and diagnostics and tools for inspection or intervention are described. Finally experimental field tests are presented and actual challenges in modeling the robot's flexibilities are discussed. C 2011 Wiley Periodicals, Inc.

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“…A long-reach robotic arm is usually designed for applications such as nuclear power plant decommissioning, [1,2] inspection, [3][4][5], and firefighting [6]. Some arms, such as [2][3][4], are redundant since long arms for those applications usually need to operate in environments filled with obstacles and the redundant Degree of Freedom (DOF) can negotiate the obstacles.…”

Section: Introductionmentioning

confidence: 99%

“…The torque of gravity was passively counteracted by the buoyancy of helium. In [4], a 9.5-m-long modular arm with spring based weight compensation mechanisms was built for inspection of an ITER related nuclear fusion device. Additionally, some gravity compensating arm designs based on springs [7,8] and weight [9] may also be used for designing passive force compensating arms.…”

Section: Introductionmentioning

confidence: 99%

Flying watch: an attachable strength enhancement device for long-reach robotic arms

Pan

Endo

2019

Robomech J

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A long-reach robotic arm is useful for applications such as nuclear plant decommissioning, inspection, and firefighting. However, for such arms, a small external reaction force can result in large loads on proximal arm actuators because of long moment arms. This problem was previously solved by specialized arm designs that compensate external reaction forces. However, these arm designs are hard to be applied to other arms or customized to different missions. To overcome these difficulties, in this paper, we propose a modular thrust generating concept inspired by wristwatch designs, called flying watch, which can be attached to a robotic arm with mission-dependent attachment styles (attachment positions and orientations) and cooperate with actuators to enhance arm strength. We first introduce flying watch concept, design, and dynamics. Then we propose two levels of watch-actuator cooperation in quasistatic situations by introducing a problem called Watch Actuator Cooperation for Arm Enhancement (WACAE) and providing an example solution. The first level of cooperation is only watches adapt their thrusts to minimize actuator loads, which is generally applicable to varieties of arms. The second level cooperation is that not only do the watches adapt their thrusts but also the actuators cooperatively position the watches to optimal positions and orientations to counteract external reaction forces, which is suitable for redundant arms and can counteract external reaction forces more effectively. Finally, we present simulations to verify that flying watches can significantly reduce actuator loads using both levels of watch-actuator cooperation (the first level by 36.9% and the second level by 43.7%).

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Demonstration of an ITER relevant remote handling equipment for Tokamak close inspection

Cited by 11 publications

References 5 publications

Development and validation of robotic cleaning system for fish processing plants

Development and validation of robotic cleaning system for fish processing plants

Long‐reach articulated robots for inspection and mini‐invasive interventions in hazardous environments: Recent robotics research, qualification testing, and tool developments

Flying watch: an attachable strength enhancement device for long-reach robotic arms

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