Path planning in nuclear facility decommissioning: Research status, challenges, and opportunities

Adibeli, Justina Onyinyechukwu; Liu, Yong-kuo; Ayodeji, Abiodun; Awodi, Ngbede Junior

doi:10.1016/j.net.2021.05.038

Cited by 28 publications

(3 citation statements)

References 29 publications

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“…In emergency scenarios, quick path planning can guide radiation workers to a point of egress whilst minimising dose. Primarily, investigations have trialled different path planning algorithms such as Dijkstra, A*, and RRT* to increase the speed at which a solution is found whilst assessing the compromises made in total dose along the path if non-optimal ( Adibeli et al, 2021 ). This use case is intended for time-critical one-off emergency response scenarios rather than the continuous re-planning that modern mobile robots employ.…”

Section: Methodsmentioning

confidence: 99%

Real-Time Avoidance of Ionising Radiation Using Layered Costmaps for Mobile Robots

et al. 2022

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Humans in hazardous environments take actions to reduce unnecessary risk, including limiting exposure to radioactive materials where ionising radiation can be a threat to human health. Robots can adopt the same approach of risk avoidance to minimise exposure to radiation, therefore limiting damage to electronics and materials. Reducing a robot’s exposure to radiation results in longer operational lifetime and better return on investment for nuclear sector stakeholders. This work achieves radiation avoidance through the use of layered costmaps, to inform path planning algorithms of this additional risk. Interpolation of radiation observations into the configuration space of the robot is accomplished using an inverse distance weighting approach. This technique was successfully demonstrated using an unmanned ground vehicle running the Robot Operating System equipped with compatible gamma radiation sensors, both in simulation and in real-world mock inspection missions, where the vehicle was exposed to radioactive materials in Lancaster University’s Neutron Laboratory. The addition of radiation avoidance functionality was shown to reduce total accumulated dose to background levels in real-world deployment and up to a factor of 10 in simulation.

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Section: Methodsmentioning

confidence: 99%

Real-Time Avoidance of Ionising Radiation Using Layered Costmaps for Mobile Robots

et al. 2022

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“…During the daily inspection, the inspection robot mainly obtains the power equipment video through the camera. It transmits the data to the background for processing to repair the power equipment with potential safety hazards in time [9]. In order to complete the daily inspection work, the robot needs to integrate vision technology and path planning technology, additionally, to process the inspection results, and to transmit the information obtained by the robot to the background processing end in real time.…”

Section: Comprehensive Design Concept Of Substation Inspectionmentioning

confidence: 99%

Application of PID Control and Improved Ant Colony Algorithm in Path Planning of Substation Inspection Robot

Kang

Wang

2022

Mathematical Problems in Engineering

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The purpose is to improve the effect of substation inspection and ensure the safety of power consumption in human society. First, this work discusses the current substation inspection-oriented robot path planning situation. Then, the proportional integration differentiation (PID) control algorithm is introduced and optimized. Ant colony algorithm (ACA) is improved. The substation inspection-oriented RPP model is designed based on the PID algorithm and optimized ACA (the proposed model is denoted as the Ant-PID algorithm). Afterward, the Ant-PID algorithm is compared with the PID control algorithm and ACA. The results show that the longest robot path of the proposed Ant-PID algorithm in different data sets is about 28 m. The shortest is about 26 m, and the number of optimal solutions is maintained at about 45–49. By comparison, the average response time of the PID algorithm is about 25 s to 28 s. The shortest response time of ACA is about 24 s, the shortest average response time is about 27 s, and the longest is about 30 s. The average response time of the proposed ant PID model is about 17 s to 20 s. Therefore, the Ant-PID algorithm can improve the substation inspection robots’ path planning effect. The research results provide technical support for improving the effect of substation inspection and contribute to social power transmission.

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“…However, most of the metal and internal machinery must be disassembled with a remote operating method since they were highly radioactive. Reactor [15] TRIGA 2000 research reactor facilities and decommissioning activities are a potential hazard, so it is important to know the component of the facilities and determine whether a decommissioning activity has the potential to give a probability rise to a hazardous situation [16].…”

Section: Description and Decommisioning Activities Of Triga 2000 Rese...mentioning

confidence: 99%

Risk Assessment on the Decommissioning Stage of Indonesian Triga 2000 Research Reactor

Tyas

Deswandri²,

Intaningrum³

et al. 2022

Tri Dasa Mega

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Decommissioning is the final stage of a nuclear reactor. In preparing the decommissioning plan, one of the important elements that need to be considered is safety assessment. During decommissioning, there are many complex tasks to be done where the radiological and non-radiological hazards arise and can significantly affect not only the workers but also the general public and the environment. Indonesia has no experience with nuclear reactor decommissioning, so it is necessary to study various experiences of decommissioning activities in the world. This study proposes a framework to implement the safety assessment on the decommissioning of the TRIGA 2000 research reactor. The framework was developed on desk-based research and analysis. The proposed framework involves the facility and decommissioning activities, hazard identification, hazard analysis, hazard evaluation, hazard or risk control, and independent review.

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Path planning in nuclear facility decommissioning: Research status, challenges, and opportunities

Cited by 28 publications

References 29 publications

Real-Time Avoidance of Ionising Radiation Using Layered Costmaps for Mobile Robots

Real-Time Avoidance of Ionising Radiation Using Layered Costmaps for Mobile Robots

Application of PID Control and Improved Ant Colony Algorithm in Path Planning of Substation Inspection Robot

Risk Assessment on the Decommissioning Stage of Indonesian Triga 2000 Research Reactor

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