The Use of Robotics and Automation in Nuclear Decommissioning

Seward, Derek; Bakari, Mohamed J.

doi:10.22260/isarc2005/0003

Cited by 24 publications

(17 citation statements)

References 1 publication

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“…(7). The effect of variation in surface height as the stages are moving and variation in the surface incidence angle are also the subject of future investigations.…”

Section: Disadvantagesmentioning

confidence: 96%

“…Besides interplanetary rovers, other applications of autonomous vehicles that require improved odometry include landmine detection robots [4,5], pipeline inspection robots [6], and robots involved in inspection, repair and decommissioning of nuclear facilities [7]. Detection and deactivation of in-ground landmines is an important but dangerous task, therefore autonomous robots are being developed to perform the task.…”

Section: Introductionmentioning

confidence: 99%

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Objective speckle velocimetry for autonomous vehicle odometry

Francis

Charrett

Waugh³

et al. 2012

Appl. Opt.

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Speckle velocimetry is investigated as a means of determining odometry data with potential for application on autonomous robotic vehicles. The technique described here relies on the integration of translation measurements made by normalized cross-correlation of speckle patterns to determine the change in position over time. The use of objective (non-imaged) speckle offers a number of advantages over subjective (imaged) speckle, such as a reduction in the number of optical components, reduced modulation of speckles at the edges of the image, and improved light efficiency. The influence of the source/detector configuration on the speckle translation to vehicle translation scaling factor for objective speckle is investigated using a computer model and verified experimentally. Experimental measurements are presented at velocities up to 80 mm s(-1) which show accuracy better than 0.4%.

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“…(7). The effect of variation in surface height as the stages are moving and variation in the surface incidence angle are also the subject of future investigations.…”

Section: Disadvantagesmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

Objective speckle velocimetry for autonomous vehicle odometry

Francis

Charrett

Waugh³

et al. 2012

Appl. Opt.

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“…In this context, a comparative review on such techniques was proposed in the addressed paper. Seward et al published a review paper on the use of robotics and automation in a field close to disassembly – the decommissioning of nuclear facilities. Even though this work was carried out almost 15 years ago, the approach of methodically assessing the scope from the evaluation of the relevant processes can still be considered valid for present and future proposals.…”

Section: Introductionmentioning

confidence: 99%

Disassembly 4.0: A Review on Using Robotics in Disassembly Tasks as a Way of Automation

Poschmann

Brüggemann

Goldmann

2020

Chemie Ingenieur Technik

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To successfully implement circular economy processes into present value chains, economic feasibility of disassembly processes is essential. Current developments in science and technology, such as artificial intelligence and Internet of Things, foster steep progression in the field of robotics. In this review, the current research on robotics in disassembly is investigated by a systematic literature review. The results were clustered in a framework system distinguishing between applied and basic research on the two main streams of disassembly automation research, namely, predefined processes and adaptable, flexible automation.

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“…Several robots have been used for the decommissioning of reactors in places where accidents have happened, such those employed at Three-Mile Island [1], or for the dismantlement of different facilities around the world due to the end of their lifespan [2,3], or just for quotidian maintenance labors [4]. All these robots have in common that most of them have been designed to perform certain tasks in environments that are well known or require the preparation of the surroundings to perform their task without problem.…”

Section: Introductionmentioning

confidence: 99%

Development of an actuation system based on water jet propulsion for a slim long-reach robot

et al. 2017

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Most of the long-reach inspection devices developed so far have a limitation in the reduction of their diameter when their length is increased. This limitation is due to the technology used to provide the actuation to the system. The use of water-jet as propulsion source is promising to be a solution for this problem. Currently different devices use water-jet as propulsion. However, none of these systems have been designed for small-scale nor have a straightforward control. Therefore, in this paper, we discuss the development of a long-reach water-jet probe aimed to be used in Fukushima Daiichi Nuclear Power Plant. The main elements that define this probe are three high-pressure pumps at the base, three hoses whose water flow is controlled for maneuvering the device, an Inertial Measurement Unit to acquire the attitude of the tip, and a joystick that allows the user the control of the whole device. Moreover, its design allows it to move in different kind of environments and generate three-dimensional motion. Besides the experimentation developed to characterize its behavior, the system was tested in different environments; such as on the ground, in the air and inside the water; showing the best control in aquatic environments.

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The Use of Robotics and Automation in Nuclear Decommissioning

Cited by 24 publications

References 1 publication

Objective speckle velocimetry for autonomous vehicle odometry

Objective speckle velocimetry for autonomous vehicle odometry

Disassembly 4.0: A Review on Using Robotics in Disassembly Tasks as a Way of Automation

Development of an actuation system based on water jet propulsion for a slim long-reach robot

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