Advantage of redundancy in the controllability of remote handling manipulator

International Nuclear Information System (INIS)

Muhammad, Ali; Mattila, Jouni; Vilenius, Matti; Siuko, Mikko; Semeraro, Luigi

2011-01-01

To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. The manipulator is installed on top of Cassette Multifunctional Mover (CMM) to assist during the cassette removal and installation operations. While CMM is designed to carry heavy components such as cassettes through the service ducts relying on positioning accuracy and repeatability, WHMAN is designed to execute a mix of remote handling operations using position trajectories and master-slave telemanipulation. WHMAN is composed of eight joints: six rotational and two translational. Since a manipulator requires only six joints to acquire the desired position and orientation in operational-space, the two additional joints of WHMAN provide the redundant degrees of mobility. This paper presents how this redundancy of WHMAN can be an advantage to optimize the execution of remote handling tasks. The paper also discusses an effective way to practically exploit the redundancy. The results show that the additional degrees of freedom can be utilized to improve the dynamic behavior of the manipulator.

Remote Decontamination Facility and Repair Station for hot-cell manipulators

International Nuclear Information System (INIS)

Ryz, M.A.

1977-01-01

Increasingly high radiation levels on manipulators at the Whiteshell Nuclear Research Establishment, Pinawa, Manitoba, Canada, necessitated design and construction of a Remote Decontamination Facility and Repair Station. This facility reduces radiation levels on manipulators by an order of magnitude over previous hand decontamination techniques. The reduced radiation levels have allowed superior manipulator repair and maintenance, resulting in 50% fewer manipulator breakdowns

Latest developments, by Taylor Hitec Ltd, in power manipulators and deployed robots for the nuclear industry and elsewhere

International Nuclear Information System (INIS)

Lowe, D.B.

1985-01-01

Taylor Hitec recently achieved a major advancement in remote manipulator engineering with the successful commissioning of the 'Advanced Manipulator' - a high precision tool for remote working, commanded by powerful computerised control developed in partnership with CEGB Marchwood. In the progression of the technology involved a second manipulator has been designed, with significant changes in mechanisms and is now in manufacture. A radically different implement has been conceived and pursued through to the prototype stage in the form of a 'vertebrate' limb for deploying remote inspection apparatus. The designs and capabilities of these three devices are presented here in essence and consideration is given to wider applications. (author)

Operating gains achieved by a new generation of remotely controlled manipulators

International Nuclear Information System (INIS)

Djedidi, A.; Selliez-Vandernotte, C.; Malcolm, F.

2014-01-01

A high performance remotely controlled mechanical master slave arm with direct transmission via cable and transmission rods has been converted to a new generation manipulator with electrical master slave arm and motion module with integrated software. The redesigned powered manipulator with software control improves efficiency and ergonomics while increasing operating field space. The mechanical master arm has been replaced by an electrical robotic master arm using haptic technology. The movements initiated by the operator are transmitted in real time to the slave arm via the servo-motors inside the motion module. The mechanical link between master and slave is eliminated and some mechanical constraints have been replaced by software applications. The operator benefits from an improved working position and vibration filtering plus full range high performance force feedback with reduced effort requirement. (authors)

Actuator Module of Robot Manipulator for Nuclear Power Plants Inspection, Maintenance and Decommission

Energy Technology Data Exchange (ETDEWEB)

Lee, Sung Uk; Jung, Kyung Min; Seo, Young Chil; Choi, Byung Seon; Moon, Jei Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2014-10-15

For nuclear facility decommissioning, there are many different electrical manipulators to remotely dismantle a nuclear facility. Various manipulators will be necessary for inspection, maintenance and decommission. Only one manipulator cannot response to many required tasks. Therefore, several manipulators are necessary, depending on the payload capacity, their number of axes and their dexterity. Each manipulator was developed for a specific task. The actuators used at manipulator are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of the manipulator is time consuming and expensive. The essential item of the manipulators is the actuator module. If actuator module is standardized, it is easier to develop manipulator. In this paper, we developed two electrical actuator modules to standardize the actuator module and easily develop a manipulator using the proposed actuator modules. The electrical actuator module has a motor, gear and rotary sensor, and is also waterproof. The electrically driven manipulator being used in the proposed actuator modules will be shown. Two modularized electrical actuator modules were developed for inspection, maintenance and decommission. Using the two developed actuator modules, the manipulator inspecting the welding area of reactor vessel is easily developed. Various modularized electrical actuator modules will be developed in terms of size and power.

Remote controlled in-pipe manipulators for milling, welding and EC-testing, for application in BWRS

International Nuclear Information System (INIS)

Seeberger, E.K.

2000-01-01

Many pipes in power plants and industrial facilities have piping sections, which are not accessible from the outside or which are difficult to access. Accordingly, remote controlled pipe machining manipulators have been built which enable in-pipe inspection and repair. Since the 1980s, defects have been found at the Inconel welds of the RPV nozzles of boiling water reactors throughout the world. These defects comprise cracks caused by stress corrosion cracking in areas of manual welds made using the weld filler metal Inconel 182. The cracks were found in Inconel-182 buttering at the ferritic nozzles as well as in the welded joints connecting to the fully-austenitic safe ends (Inconel 600 and stainless steel). These welds are not accessible from outside. The ferritic nozzle is cladded with austenitic material on the inside. The adjacent buttering was applied manually using the weld filler metal Inconel 182. The safe end made of Inconel 600 was welded to the nozzle also using Inconel 182 as the filler metal. The repair problems for inside were solved with remote-controlled in-pipe manipulators which enable in-pipe inspection and repair. A complete systems of manipulators has been developed and qualified for application in nuclear power plants. The tasks that must be performed with this set of in-pipe manipulator are as follows: 1st step - Insertion of the milling/ET manipulator into piping to the work location; 2nd step Detection of the transition line with the ferritic measurement probe; 3rd step - Performance of a surface crack examination by eddy current (ET) method; 4th step - Milling of the groove and preparation for weld backlay and, in case of ET indications, elimination of such flaws also by milling. 5th step - Welding of backlay and/or repair weld using the GTA pulsed arc technique; 6th step - After welding it is necessary to prepare the surface for eddy current testing. A final milling inside the pipe is done with the milling manipulator to adjust the

Application of identification techniques to remote manipulator system flight data

Science.gov (United States)

Shepard, G. D.; Lepanto, J. A.; Metzinger, R. W.; Fogel, E.

1983-01-01

This paper addresses the application of identification techniques to flight data from the Space Shuttle Remote Manipulator System (RMS). A description of the remote manipulator, including structural and control system characteristics, sensors, and actuators is given. A brief overview of system identification procedures is presented, and the practical aspects of implementing system identification algorithms are discussed. In particular, the problems posed by desampling rate, numerical error, and system nonlinearities are considered. Simulation predictions of damping, frequency, and system order are compared with values identified from flight data to support an evaluation of RMS structural and control system models. Finally, conclusions are drawn regarding the application of identification techniques to flight data obtained from a flexible space structure.

In-vessel maintenance remote manipulator system

International Nuclear Information System (INIS)

Jimenez, E.

1978-01-01

The radiation environment within the Tokamak Fusion Test Reactor (TFTR) vacuum vessel necessitates the development of a Remote Manipulator System (RMS) to perform required periodic inspection and maintenance tasks. The RMS must be able to perform dexterous operations and handle loads that exceed human capabilities. The limited size of the access ports on the TFTR vacuum vessel and the performance profile, defined by the various handling requirements, present unique design constraints. The design approach and formulation of a RMS configuration which satisfies TFTR requirements is presented herein

Remote manipulator experience in target train maintenance at Fermilab

International Nuclear Information System (INIS)

Butala, S.W.

1984-01-01

When Fermilab was designed in the late 1960's and early 1970's, it was anticipated that Neutrino target train servicing could be costly in terms of personnel radiation exposure. This was based in part on the expectation that target intensities of at least 1E13 protons/pulse would be required to produce several neutrino interactions in a large bubble chamber detector. This was indeed later proven to be the case and historically the Neutrino beamline has been targeted with about one half of the protons available from the Main Ring. It was believed that much of the occupational radiation dose from the Neutrino Area could be spared by utilization of a remote manipulator system, which was eventually installed. It is the purpose of this report to examine the use of the Fermilab remote manipulator system and evaluate its cost effectiveness and success as an ALARA (As Low As Reasonably Achievable) tool. 16 references, 11 figures

Kinesthetic coupling between operator and remote manipulator

Science.gov (United States)

Bejczy, A. K.; Salisbury, J. K., Jr.

1980-01-01

A universal force-reflecting hand controller has been developed which allows the establishment of a kinesthetic coupling between the operator and a remote manipulator. The six-degree-of-freedom controller was designed to generate forces and torques on its three positional and three rotational axes in order to permit the operator to accurately feel the forces encountered by the manipulator and be as transparent to operate as possible. The universal controller has been used in an application involving a six-degree-of-freedom mechanical arm equipped with a six-dimensional force-torque sensor at its base. In this application, the hand controller acts as a position control input device to the arm, while forces and torques sensed at the base of the mechanical hand back drive the hand controller. The positional control relation and the back driving of the controller according to inputs experienced by the force-torque sensor are established through complex mathematical transformations performed by a minicomputer. The hand controller is intended as a development tool for investigating force-reflecting master-slave manipulator control technology.

Remote maintenance system for nuclear facilities

International Nuclear Information System (INIS)

Maeda, Masafumi

1993-01-01

In the facilities related to atomic energy, from the viewpoint of the reduction of radiation exposure of workers and the heightening of the rate of operation of the facilities, the development of remote maintenance system is regarded as important. Meidensha Electric Manufacturing Co., Ltd. developed the bilateral control type manipulator, BILARM-83, in 1979, and has developed high performance manipulator systems. As the design of the plant that realizes the remote operation maintenance of process machinery and equipment during plant operation, the remote maintenance system by canyon cell techniques, which was adopted in Savannah River plant, USA, and has been operated for nearly 50 years, has been known. The concept of the full remote maintenance system by large scale cell techniques was shown and has been developed by Power Reactor and Nuclear Fuel Development Corp. In order to realize the remote maintenance of such large scale cells, Meidensha is developing the both arm type bilateral servo manipulator, the single arm type power manipulator, the transport system for moving them, the power and signal system and so on. Those systems were adopted for the glass solidification facilities. (K.I.)

Handling trolley for Argonne M8, Pye Mo 1815, Pye Heavy Duty, etc. remote manipulators

International Nuclear Information System (INIS)

Roussel, E.; Labiche, M.; Chevallier, E.

1962-01-01

The removal and installation of remote manipulators and periscopes in hot cells are delicate operations requiring a specific handling trolley. This note describes the technical specifications of such a trolley having the following advantages: occupies a minimal space when not in use, easy and efficient fastening and monitoring, smooth moving of the remote manipulators during removal or installation, trolley stability and immobility during operation, requires only two operators

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Specification and resolution of complex manipulation tasks. Application to remote robots tele-programming; Specification et resolution de taches de manipulation complexes. Application a la teleprogrammation de robots distants

Energy Technology Data Exchange (ETDEWEB)

Piccin, O

1995-11-15

The work presented in this thesis comes within the scope of remote manipulation with restricted communication properties between the operator and the remote site. This context renders traditional tele-operation infeasible. To enhance the autonomy of the remote manipulator, it is necessary to reason on a model of the robot and its workspace. However, discrepancies between the real world and its representation require calibration capabilities to identify both position and size of objects interacting with the robot. Moreover, the non-repetitiveness and complexity of the tasks demand that the specification system remains easy to re-program and capable of treating a wide range of problems. The proposed constraint-based approach permits the specification of complex manipulation tasks in which tasks' objectives are expressed in terms of mobilities and contact relationships to achieve or maintain between parts. The resulting constraint relationships are then treated by a numerical solver based on a Newton-Raphson scheme. An enhanced robustness has been achieved through a dynamic management of equations' conditioning. This enables the system to choose automatically for the most appropriate resolution scenario. The first main class of applications is complex motion generation for any kind of robotic mechanisms possibly including redundancy. Constraints setting can also be exploited to realize local obstacle avoidance. The proposed approach makes it possible to deal with calibration tasks within the same framework. This constitutes an essential feature in the context of remote manipulation where models are un-precisely known. Lastly, a weld line inspection experiment performed on a real manipulator allows us to put forward a strategy for robotic task performance at a remote location. (author)

Stiffness analysis of spring mechanism for semi automatic gripper motion of tendon driven remote manipulator

International Nuclear Information System (INIS)

Yu, Seung Nam; Lee, Jong Kwang

2012-01-01

Remote handling manipulators are widely used for performing hazardous tasks, and it is essential to ensure the reliable performance of such systems. Toward this end, tendon driven mechanisms are adopted in such systems to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. In this study, several approaches for the design of a gripper system for a tendon driven remote handling system are introduced. Basically, this gripper has an underactuated spring mechanism that is combined with a slave manipulator triggered by a master operator. Based on the requirements under the specified tendon driven mechanism, the connecting position of the spring system on the gripper mechanism and kinematic influence coefficient (KIC) analysis are performed. As a result, a suitable combination of components for the proper design of the target system is presented and verified

Solar maximum mission panel jettison analysis remote manipulator system

Science.gov (United States)

Bauer, R. B.

1980-01-01

A study is presented of the development of the Remote Manipulator System (RMS) configurations for jettison of the solar panels on the Solar Maximum Mission/Multimission Satellite. A valid RMS maneuver between jettison configurations was developed. Arm and longeron loads and effector excursions due to the solar panel jettison were determined to see if they were within acceptable limits. These loads and end effector excursions were analyzed under two RMS modes, servos active in position hold submode, and in the brakes on mode.

Application of Shuttle Remote Manipulator System technology to the replacement of fuel channels in the Pickering CANDU reactor

International Nuclear Information System (INIS)

Stratton, D.; Butt, C.

1982-04-01

Spar Aerospace Limited of Toronto was the prime contractor to the National Research Council of Canada for the design and development of the Shuttle Remote Manipulator (SRMS). Spar is presently under contract to Ontario Hydro to design and build a Remote Manipulation Control System to replace the fuel channels in the Pickering A Nuclear Generating Station. The equipment may be used to replace the fuel channels in six other early generation CANDU reactors

Remote manipulation of posterior lamellar corneal grafts using a magnetic field.

Science.gov (United States)

Nahum, Yoav; Barliya, Tilda; Bahar, Irit; Livnat, Tami; Nisgav, Yael; Weinberger, Dov

2013-06-01

In posterior lamellar keratoplasty procedures such as Descemet stripping endothelial keratoplasty and Descemet membrane endothelial keratoplasty, the lamellar graft is manipulated directly or by injecting an air bubble. This preliminary study sought to evaluate the feasibility of guiding lamellar corneal grafts by generating a magnetic field. Rabbit and porcine Descemet stripping endothelial keratoplasty and Descemet membrane endothelial keratoplasty grafts were manually produced and immersed in a ferromagnetic solution containing nanomagnetic particles conjugated to streptavidin or in gadoteric acid. For the feasibility study, grafts were transferred to an artificial anterior chamber or plastic test tube and a magnetic field was generated with a handheld NdFeB disc magnet. The presence and the sustainability of graft motion were documented under various conditions. For the semiquantitative study, whole or partial grafts were transferred to a plastic test tube after immersion, and the amount of tissue retraction induced by the remote magnet was graded. The grafts were successfully manipulated in all directions by the magnet, from a distance of up to 7 mm. They remained ferromagnetic more than 24 hours after immersion in the ferromagnetic solutions. The degree of retraction was affected by graft size, immersion time, time from immersion, and immersion solution. Posterior lamellar corneal grafts may be made ferromagnetic and remotely manipulated by creation of a magnetic field. The ferromagnetic properties are adjustable. This technique holds promise in attaching and repositioning grafts during keratoplasty. Further research is needed to assess the possible effects of ferromagnetic solutions on corneal endothelial cells and on lamellar graft clarity.

Independent Orbiter Assessment (IOA): Assessment of the EPD and C/remote manipulator system FMEA/CIL

Science.gov (United States)

Robinson, W. W.

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Electrical Power Distribution and Control (EPD and C)/Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA analysis of the EPD and C/RMS hardware initially generated 345 failure mode worksheets and identified 117 Potential Critical Items (PCIs) before starting the assessment process. These analysis results were compared to the proposed NASA Post 51-L baseline of 132 FMEAs and 66 CIL items.

Low power reactor for remote applications

International Nuclear Information System (INIS)

Meier, K.L.; Palmer, R.G.; Kirchner, W.L.

1985-01-01

A compact, low power reactor is being designed to provide electric power for remote, unattended applications. Because of the high fuel and maintenance costs for conventional power sources such as diesel generators, a reactor power supply appears especially attractive for remote and inaccessible locations. Operating at a thermal power level of 135 kWt, the power supply achieves a gross electrical output of 25 kWe from an organic Rankine cycle (ORC) engine. By intentional selection of design features stressing inherent safety, operation in an unattended mode is possible with minimal risk to the environment. Reliability is achieved through the use of components representing existing, proven technology. Low enrichment uranium particle fuel, in graphite core blocks, cooled by heat pipes coupled to an ORC converter insures long-term, virtually maintenance free, operation of this reactor for remote applications. 10 refs., 7 figs., 3 tabs

Development of the mobile manipulator for inspection and maintenance in nuclear power plants and application of the modul devices

International Nuclear Information System (INIS)

Ohmichi, Takeo; Hosaka, Shigetaka; Nishihara, Masatoshi; Nakayama, Junji; Sato, Masatoshi

1986-01-01

In nuclear power stations, remote operation devices have been positively developed and applied, thus largely contributed to the reduction of the radiation exposure of workers. However, when requirements are diversified, the number of devices increases, and their management becomes complicated. The largest obstacle to the adaption of versatile robots in nuclear power stations is the environmental condition, and the small size for narrow space and the capability to withstand severe temperature, humidity and radiation must be ensured with high reliability. Mitsubishi Heavy Industries, Ltd. carried out the development of the manipulator for light works, which takes early counter-measures to the abnormality during operation, for five years as the subsidized project by the Ministry of International Trade and Industry. This robot is composed of a slave robot working in vessels and the central control system. The slave robot comprises a modular manipulator arm, the slave controller, a running carriage and the three-dimensional visual system. The components of the central control system are connected with optical fibers. The features and function and applicability of this manipulator are described. (Kako, I.)

Unattended power sources for remote, harsh environments

International Nuclear Information System (INIS)

Lamp, T.R.; Donovan, B.D.

1994-01-01

Forest fires that have endangered remote US Air Force sites equipped with radioisotope thermoelectric generators (RTGs) has prompted the assessment of power generating systems as substitutes for RTGs in small scale (10--120 watt) applications. A team of scientists and engineers of the US Air Forces' Wright Laboratory conducted an assessment of electrical power technologies for use by the Air Force in remote, harsh environments. The surprisingly high logistic costs of operating fossil fuel generators resulted in the extension of the assessment to non-RTG sites. The candidate power sources must operate unattended for long periods at a high level of operations reliability. Selection of the optimum power generation technology is complicated and heavily driven by the severe operating environment compounded by the remoteness of the location. It is these site-related characteristics, more than any other, that drive the selection of a safe and economical power source for Arctic applications. A number of proven power generation technologies were evaluated. The assessment concluded that continued use of the RTGs is clearly the safest, most reliable, and most economical approach to supplying electrical power for remote, difficult to access locations

Integration of remotely operated manipulator systems for the nuclear industry

International Nuclear Information System (INIS)

Blight, J.; Cornec, G.

2003-01-01

There is no getting away from remotely operated manipulator systems in significant part in dismantling operations, because of the actual radioactive emitting level of installations. However, some main contractors, who have been involved in dismantling projects in the past few years are reluctant to use remotely operated systems because: - equipment characteristics are not suitable for the environment and the work to be performed; - There are some design problems; - Main components do not withstand operation any longer, after some time; - There are deficiencies in the management of quality, for critical equipment problems that degrade the productivity and increase direct and indirect labour cost. As a summary therefore, equipment available on this dismantling market are reputedly unreliable and not 'industrial' (sturdy) enough. However, numerous operations in maintenance in primary loops of nuclear reactors, or in the Offshore sector, are carried out remotely, to the satisfaction of the operators and the investors. In the dismantling sector, a thorough analysis of the difficulties encountered indicates that their origin is mostly due to a lack of methodology - that needs to be addressed -, rather than a technical problem. In that context, CYBERNETIX proposes to be involved in phases upstream and downstream of the equipment supply's. Upstream: Participate in developing/validating the scenarios to be used to optimise the constraints of remote operations/equipment. Downstream: Participate actively in supporting the client on-site, ensuring that equipment are available and maintained by competent and motivated people, and thus, getting experience in order to improve the State-of-the-Art of robotic in that field. Then, the contracting authority and CYBERNETIX jointly define the limits and the content of the involvement of each party, and also define the most appropriate type of 'partnership' between the main contactor and the participating companies, and in order to

Boiler inspection manipulator for Torness Power Station

International Nuclear Information System (INIS)

Carrey, R.T.A.; Yule, I.Y.; Sibson, S.; Playle, M.J.

1996-01-01

The Advanced Gas-cooled Reactors at Torness and Heysham 2 are provided with dedicated access for remote inspection equipment. These in-service inspection (ISI) accesses comprise 12 penetrations above the core for inspection of the above core area and boilers, 12 below core penetrations for inspection of the lower boiler area and access through any of the 8 gas circulator penetrations for inspection of the sub-diagrid area. This paper describes a manipulator which will access the reactor from above the core via any of the 8 peripheral penetrations. (UK)

Remote Operation and Maintenance Demonstration Facility at the Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Burgess, T.W.

1986-01-01

The Remote Operation and Maintenance Demonstration (ROMD) Facility at the Oak Ridge National Laboratory has been developed by the Consolidated Fuel Reprocessing Program to demonstrate remote handling concepts on advanced nuclear fuel reprocessing equipment and for other programs of national interest. The ROMD facility is a large-volume high-bay area that encloses a complete, technologically advanced remote maintenance system and full-scale development reprocessing equipment. The maintenance system consists of a full complement of teleoperated manipulators, manipulator transport systems, and overhead hoists that provide the capability of performing a large variety of remote handling tasks. This system has been used to demonstrate remote manipulation techniques for the US Department of Energy (DOE), the Power Reactor and Nuclear Fuels Development Corporation of Japan, the US Navy, and the National Aeronautics and Space Administration. Extensive tests of manipulative systems and remote maintainability of process equipment have been performed. This paper describes the ROMD facility and key remote maintenance equipment and presents a summary of major experimental activities. 7 refs., 6 figs

Development of telerobotic manipulators for reactor dismantling work

International Nuclear Information System (INIS)

Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

1991-01-01

This paper describes the amphibious electrical manipulators JARM-10, JART-25, JART-100 and JARM-25 which were developed in the program of reactor decommissioning technology development carried out by the Japan Atomic Energy Research Institute. They are multi-functional telerobotic light-duty (10 and 25 daN) and heavy-duty (100 daN) Manipulators which can be used in hostile environments in reactor dismantling work such as high radiation, underwater work and electrical noise. Each manipulator can be operated in either a bilateral master-slave, a teach-and-playback or a programmed control mode. By combining these modes appropriately, it is possible to perform complex tasks of remote handling. The usefulness of the telerobotic systems for dismantling nuclear reactors has been demonstrated by successful application of the JARM-25 for remote underwater dismantlement of highly radioactive reactor internals of complex form of an experimental nuclear power reactor. (author)

Power-over-ethernet for remote measurement and control

International Nuclear Information System (INIS)

Behera, Rajendra Prasad; Murali, N.

2011-01-01

Power-Over-Ethernet (PoE) technology (IEEE standard 802.3af) allows Remote Measurement and Control in harsh environment where human access is difficult in various nuclear research fields. The terminal measurement and control unit receives power for its operation and communicates data over the same LAN cable, without needing to provide power supplies from different source. Almost all data acquisition systems require both data connectivity and a power supply. In a familiar example, telephones are powered from the telephone exchange through the same twisted pair that carries the voice. Now we can do the same thing with Ethernet devices by combining power and data. Only one set of wires is required to bring to the end measurement and control unit which will simplify installation and save space. Remote unit can be easily moved, to wherever a LAN cable can be laid with minimal disruption to the workplace. It is safer as no mains supply is required. Uninterrupted power supply can be guaranteed to the terminal unit during mains power failure. The terminal unit can be shut down and reset remotely without needing for a reset button and power switch. Simple Network Management Protocol (SNMP) can be used to monitor and control the remote unit. PoE will enable to deploy many more embedded systems in nuclear and other industry like Voice over Internet Protocol (VoIP), Security Camera, Tele-information System, Remote Access Control System, Intruder Detection System, and Tele-Medicine System, etc. (author)

Manipulators

International Nuclear Information System (INIS)

Wilcock, P.D.

1984-01-01

The patent concerns a manipulator, which enables operations to be carried out remotely from the operator. The device is suitable for use in handling of radioactive materials and other hazardous liquids or gases. The specifications are given, and the movements of the manipulator arm described. (U.K.)

Development and commissioning of a links type inspection manipulator

International Nuclear Information System (INIS)

Whitcomb, H.M.; Ford, G.T.

1988-01-01

In order to access a number of tortuous inspection routes in the Heysham II/Torness reactors, the Central Electricity Generating Board (CEGB) Remote Inspection Group (RIG) have developed a 'links' type manipulator in conjunction with Babcock Power Ltd. This manipulator operates from the reactor pile cap and allows placement of a television camera within the pressure vessel up to 4m laterally from a standpipe of only 140mm in diameter. The design features of this novel manipulator are described together with the solutions developed to overcome particular difficulties experienced during commissioning. (author)

Study and development of techniques for automatic control of remote manipulators

Science.gov (United States)

Shaket, E.; Leal, A.

1976-01-01

An overall conceptual design for an autonomous control system of remote manipulators which utilizes feedback was constructed. The system consists of a description of the high-level capabilities of a model from which design algorithms are constructed. The autonomous capability is achieved through automatic planning and locally controlled execution of the plans. The operator gives his commands in high level task-oriented terms. The system transforms these commands into a plan. It uses built-in procedural knowledge of the problem domain and an internal model of the current state of the world.

Multi-Sensor Localization and Navigation for Remote Manipulation in Smoky Areas

Directory of Open Access Journals (Sweden)

Jose Vicente Marti

2013-04-01

Full Text Available When localizing mobile sensors and actuators in indoor environments laser meters, ultrasonic meters or even image processing techniques are usually used. On the other hand, in smoky conditions, due to a fire or building collapse, once the smoke or dust density grows, optical methods are not efficient anymore. In these scenarios other type of sensors must be used, such as sonar, radar or radiofrequency signals. Indoor localization in low-visibility conditions due to smoke is one of the EU GUARDIANS [1] project goals. The developed method aims to position a robot in front of doors, fire extinguishers and other points of interest with enough accuracy to allow a human operator to manipulate the robot's arm in order to actuate over the element. In coarse-grain localization, a fingerprinting technique based on ZigBee and WiFi signals is used, allowing the robot to navigate inside the building in order to get near the point of interest that requires manipulation. In fine-grained localization a remotely controlled programmable high intensity LED panel is used, which acts as a reference to the system in smoky conditions. Then, smoke detection and visual fine-grained localization are used to position the robot with precisely in the manipulation point (e.g., doors, valves, etc..

Summary report on development of bilateral servo manipulator (BSM) for nuclear fuel cycle facilities in the Japan Nuclear Cycle Development Institute

International Nuclear Information System (INIS)

Miki, Yasuo; Koizumi, Tsutomu; Aoshima, Atsushi; Kawanobe, Kazunori; Kobayashi, Yuichi

2000-03-01

In order to improve availability of nuclear fuel cycle facilities such as fuel reprocessing plants, reduce occupational radiation exposure, the Japan Nuclear Cycle Development Institute (JNC) has been developing an advanced remote manipulative system for fully remote maintenance and repair tasks in large volume repair cells. Fully remote maintenance and repair task is performed primarily by the utilization of overhead bridge cranes, mechanical master-slave manipulators and electro-mechanical power manipulators. This system requires also that plant process and remote processing equipment should be designed to provide modular or unit replacement based on the potential mode of system failures. Repair of equipment is performed following removal of the failed component from process line and transfer to the repair cell. Equipment repair in the cell is commonly carried out by the use of remote manipulators. However, the realization of fully remote maintenance facility requires so remote manipulative systems as to provide excellent controllability, durability and remote maintenance capability, development of a bilateral servo-manipulator was initiated in 1982. Two of BSM were installed in the Tokai Vitrification Facility (TVF) cell and their remote maintenance feasibility was evaluated. Following installation in the TVF, developing efforts toward achieving advanced remote maintenance capability for the Recycle Equipment Test Facility (RETF) have been made. This report summarizes mainly mechanical and control system design for improvement, particularly upgrading controllability. (Itami, H.)

A manipulator

International Nuclear Information System (INIS)

Cole, G.V.; Hofmann, D.A.; Ashby, R.

1984-01-01

A manipulator is described, for remote handling of objects within an enclosure, by an operator outside the enclosure. The manipulator consists of a telescopically extensible arm member, the action of which is controlled by a motor-driven lead screw. (U.K.)

The application of manipulator robot for nuclear power plant maintenance

International Nuclear Information System (INIS)

Fujita, Jun; Onishi, Ken

2009-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. In light of manufacture period, cost and reliability, various maintenance works are requested to be done by one robot. As one of the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. The manipulator technologies in this study are able to apply to robotization needed under radiation environment. (author)

Remote docking apparatus

International Nuclear Information System (INIS)

Dent, T.H.; Sumpman, W.C.; Wilhelm, J.J.

1981-01-01

The remote docking apparatus comprises a support plate with locking devices mounted thereon. The locking devices are capable of being inserted into tubular members for suspending the support plate therefrom. A vertical member is attached to the support plate with an attachment mechanism attached to the vertical member. A remote access manipulator is capable of being attached to the attachment mechanism so that the vertical member can position the remote access manipulator so that the remote access manipulator can be initially attached to the tubular members in a well defined manner

Supervised Remote Robot with Guided Autonomy and Teleoperation (SURROGATE): A Framework for Whole-Body Manipulation

Science.gov (United States)

Hebert, Paul; Ma, Jeremy; Borders, James; Aydemir, Alper; Bajracharya, Max; Hudson, Nicolas; Shankar, Krishna; Karumanchi, Sisir; Douillard, Bertrand; Burdick, Joel

2015-01-01

The use of the cognitive capabilties of humans to help guide the autonomy of robotics platforms in what is typically called "supervised-autonomy" is becoming more commonplace in robotics research. The work discussed in this paper presents an approach to a human-in-the-loop mode of robot operation that integrates high level human cognition and commanding with the intelligence and processing power of autonomous systems. Our framework for a "Supervised Remote Robot with Guided Autonomy and Teleoperation" (SURROGATE) is demonstrated on a robotic platform consisting of a pan-tilt perception head, two 7-DOF arms connected by a single 7-DOF torso, mounted on a tracked-wheel base. We present an architecture that allows high-level supervisory commands and intents to be specified by a user that are then interpreted by the robotic system to perform whole body manipulation tasks autonomously. We use a concept of "behaviors" to chain together sequences of "actions" for the robot to perform which is then executed real time.

Preliminary concept design of the divertor remote handling system for DEMO power plant

Energy Technology Data Exchange (ETDEWEB)

Carfora, D., E-mail: dario.carfora@gmail.com [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); ENEA/CREATE/University of Naples Federico II, 80125 Naples (Italy); Di Gironimo, G. [ENEA/CREATE/University of Naples Federico II, 80125 Naples (Italy); Järvenpää, J. [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland); Huhtala, K. [Tampere University of Technology, Korkeakoulunkatu 6, 33720 Tampere (Finland); Määttä, T.; Siuko, M. [VTT Technical Research Centre of Finland, P.O. Box 1300, FI-33101 Tampere (Finland)

2014-11-15

Highlights: • Concept design of the RH system for the DEMO fusion power plant. • Divertor Mover: Hydraulic telescopic boom concept design. An alternative solution to ITER rack and pinion divertor mover (CMM). • Divertor cassettes end effector studies. • Transportation cask conceptual studies and logistic. - Abstract: This paper is based on the remote maintenance system project (WPRM) for the demonstration fusion power reactor (DEMO). Following ITER, DEMO aims to confirm the capability of generating several hundred of MW of net electricity by 2050. The main objective of these activities is to develop an efficient and reliable remote handling (RH) system for replacing the divertor cassettes. This paper presents the preliminary results of the concept design of the divertor RH system. The proposed divertor mover is a hydraulic telescopic boom driven from the transportation cask through the maintenance tunnel of the reactor. The boom is divided in three sections of 4 m each, and it is driving an end-effector in order to perform the scheduled operations of maintenance inside the vacuum vessel. Two alternative design of the end effector to grip and manipulate the divertor cassette are also presented in this work. Both the concepts are hydraulically actuated, basing on the ITER previous studies. The divertor cassette end-effector consists of a lifting arm linked to the divertor mover, a tilting plate, a cantilever arm and a hook-plate. The main objective of this paper is to illustrate the feasibility of DEMO divertor remote maintenance operations.

Presentation of accessibility equipment for primary pipings, IHX, pumps and appertaining manipulator tests

International Nuclear Information System (INIS)

Hahn, G.; Hoeft, E.

1980-01-01

Accessibility and inservice procedure of SNR-300 components are described. Due to the high radiation level in the primary system it was necessary to develop special equipment to permit access to the testing components. The pertinent examination methods for surveying welding seams are acoustic (ultrasonic) and optical procedures (TV cameras, surface crack tests). This can be done by remote-controlled manipulators and special devices, which can transport the inspection system by rails to the testing position. Presently, relatively limited experience exists for such remote-controlled handling in nuclear power plants. Thus model experiments were carried out on a model pipe section at INTERATOM. The performed test shows that the concept planned to perform inservice by using remote-controlled manipulators can be realized successfully. (author)

Manipulator system for remote maintenance of fusion experimental reactor

International Nuclear Information System (INIS)

Shibanuma, Kiyoshi; Munakata, Tadashi; Murakami, Shin; Kondoh, Mitsunori.

1991-01-01

We have completed the conceptual design for a rail-mounted vehicle type remote maintenance system for the fusion experimental reactor (FER), which will be the first D-T burning reactor in Japan. We have fabricated a 1/5-scale model and confirmed the feasibility of the design. In this system, a rail is deployed into the vessel and supported at four horizontal ports. A vehicle then moves along the rail and handles in-vessel components with manipulators. The advantages of this concept are the high stiffness and high reliability of the rail, and the high mobility of the vehicle for efficient maintenance operations. In the FER, this concept is considered to be the first option for in-vessel maintenance. This paper describes the conceptual design of the system and the feasibility study using the 1/5-scale model. (author)

Data acquisition remote node powered over the communications optical fiber

International Nuclear Information System (INIS)

Batista, Antonio J.N.; Sousa, Jorge; Gonçalves, Bruno

2015-01-01

Large nuclear fusion reactors, like ITER, will have harsh electromagnetic environments nearby the machine. Foreseeing the necessity for special data acquisition remote nodes, on difficult access locations and as close as possible to the experimental devices, motivated the system design. The architecture is based on the power-over-fiber technology recent advancements and respective implementation aim is to attain a proof of concept for the fusion technology field and others, e.g., high energy physics, industry, etc. The design intends the replacement of traditional copper cables and power supplies, vulnerable to electromagnetic interference, by the communications optical fiber of the data acquisition remote node. Optical fibers provide galvanic isolation, immunity to noisy electromagnetic environments and simultaneously can supply power to the remote node electronics. System architecture uses a laser power converter (array of photovoltaic cells) to convert the laser light, from the optical fiber, into electricity. The generated electrical power is enough for powering the remote node electronics and optoelectronics, such as an ADC, a low power FPGA and an optical transmitter. The laser power converter is also used as the communications receiver and from which the acquisition clock is recovered, providing synchronism between remote data acquisition nodes. Descriptions of the system architecture, tested implementations and future improvements are presented.

Remote powering platform for implantable sensor systems at 2.45 GHz.

Science.gov (United States)

Kazanc, Onur; Yilmaz, Gurkan; Maloberti, Franco; Dehollain, Catherine

2014-01-01

Far-field remotely powered sensor systems enable long distance operation for low-power sensor systems. In this work, we demonstrate a remote powering platform with a miniaturized antenna and remote powering base station operating at 2.45 GHz. The rectenna, which is the energy receiving and conversion element of the sensor system, is designed and measured. The measurements for the tag are performed within 15 cm distance from the remote powering base station. The realized gain of the tag antenna is measured as -3.3 dB, which is 0.5 dB close to the simulations, where simulated realized gain is -2.8 dB.

Remote handling facility and equipment used for space truss assembly

International Nuclear Information System (INIS)

Burgess, T.W.

1987-01-01

The ACCESS truss remote handling experiments were performed at Oak Ridge National Laboratory's (ORNL's) Remote Operation and Maintenance Demonstration (ROMD) facility. The ROMD facility has been developed by the US Department of Energy's (DOE's) Consolidated Fuel Reprocessing Program to develop and demonstrate remote maintenance techniques for advanced nuclear fuel reprocessing equipment and other programs of national interest. The facility is a large-volume, high-bay area that encloses a complete, technologically advanced remote maintenance system that first began operation in FY 1982. The maintenance system consists of a full complement of teleoperated manipulators, manipulator transport systems, and overhead hoists that provide the capability of performing a large variety of remote handling tasks. This system has been used to demonstrate remote manipulation techniques for the DOE, the Power Reactor and Nuclear Fuel Development Corporation (PNC) of Japan, and the US Navy in addition to the National Aeronautics and Space Administration. ACCESS truss remote assembly was performed in the ROMD facility using the Central Research Laboratory's (CRL) model M-2 servomanipulator. The model M-2 is a dual-arm, bilateral force-reflecting, master/slave servomanipulator which was jointly developed by CRL and ORNL and represents the state of the art in teleoperated manipulators commercially available in the United States today. The model M-2 servomanipulator incorporates a distributed, microprocessor-based digital control system and was the first successful implementation of an entirely digitally controlled servomanipulator. The system has been in operation since FY 1983. 3 refs., 2 figs

Development of spent fuel remote handling technology

Energy Technology Data Exchange (ETDEWEB)

Park, B. S.; Yoon, J. S.; Hong, H. D. (and others)

2007-02-15

In this research, the remote handling technology was developed for the ACP application. The ACP gives a possible solution to reduce the rapidly cumulative amount of spent fuels generated from the nuclear power plants in Korea. The remote technologies developed in this work are a slitting device, a voloxidizer, a modified telescopic servo manipulator and a digital mock-up. A slitting device was developed to declad the spent fuel rod-cuts and collect the spent fuel UO{sub 2} pellets. A voloxidizer was developed to convert the spent fuel UO{sub 2} pellets obtained from the slitting process in to U{sub 3}O{sub 8} powder. Experiments were performed to test the capabilities and remote operation of the developed slitting device and voloxidizer by using simulated rod-cuts and fuel in the ACP hot cell. A telescopic servo manipulator was redesigned and manufactured improving the structure of the prototype. This servo manipulator was installed in the ACP hot cell, and the target module for maintenance of the process equipment was selected. The optimal procedures for remote operation were made through the maintenance tests by using the servo manipulator. The ACP digital mockup in a virtual environment was established to secure a reliability and safety of remote operation and maintenance. The simulation for the remote operation and maintenance was implemented and the operability was analyzed. A digital mockup about the preliminary conceptual design of an enginnering-scale ACP was established, and an analysis about a scale of facility and remote handling was accomplished. The real-time diagnostic technique was developed to detect the possible fault accidents of the slitting device. An assessment of radiation effect for various sensors was also conducted in the radiation environment.

Remote controlled ultrasonic pre-service and in-service inspections of reactor pressure vessels

International Nuclear Information System (INIS)

Mueller, G.

1990-01-01

The first mechanised in-service inspection of the reactor pressure vessel on unit one of Eskom's Koeberg nuclear power station has been carried out. Since 1968 a whole range of manipulators to carry out remote controlled ultrasonic inspections of nuclear power station equipment has been developed. The inspection of a reactor pressure vessel using a central mast manipulator is described. 3 figs., 1 ill

Remote handling machines

International Nuclear Information System (INIS)

Sato, Shinri

1985-01-01

In nuclear power facilities, the management of radioactive wastes is made with its technology plus the automatic techniques. Under the radiation field, the maintenance or aid of such systems is important. To cope with this situation, MF-2 system, MF-3 system and a manipulator system as remote handling machines are described. MF-2 system consists of an MF-2 carrier truck, a control unit and a command trailer. It is capable of handling heavy-weight objects. The system is not by hydraulic but by electrical means. MF-3 system consists of a four-crawler truck and a manipulator. The truck is versatile in its posture by means of the four independent crawlers. The manipulator system is bilateral in operation, so that the delicate handling is made possible. (Mori, K.)

Remote powering and data communication for implanted biomedical systems

CERN Document Server

Kilinc, Enver Gurhan; Maloberti, Franco

2016-01-01

This book describes new circuits and systems for implantable biomedical applications and explains the design of a batteryless, remotely-powered implantable micro-system, designed for long-term patient monitoring.  Following new trends in implantable biomedical applications, the authors demonstrate a system which is capable of efficient, remote powering and reliable data communication.  Novel architecture and design methodologies are used to transfer power with a low-power, optimized inductive link and data is transmitted by a reliable communication link.  Additionally, an electro-mechanical solution is presented for tracking and monitoring the implantable system, while the patient is mobile.  ·         Describes practical example of an implantable batteryless biomedical system; ·         Analyzes and compares various energy harvesting and power transfer methods; ·         Describes design of remote powering link and data communication of the implantable system, comparing differe...

Economics of PV power supply for Libyan remote areas

International Nuclear Information System (INIS)

La-azebi, I.F.; Kagilik, A.S.; Bara, M.F.

2000-01-01

The electrical power supplies of remote and isolated areas has been and is still an issue for electric power companies worldwide. Usually there are three ways of supplying these remote areas mainly, the general grid, the Diesel generators, and photovoltaic power supply. The use of one of these systems instead of the other depend, on the availability, reliability, and cost. There are some isolated areas, which can t be supplied from the general grid as they are far away from it and economically not visible, so the electric power is needed of such isolated areas will be supplied either by Diesel generators or photovoltaics. The use of diesel generator demands a constant fuel supply, and maintenance staff, which also may not be available in small villages. Therefore the PV generators in such cases are considered an ideal solution of supplying these areas. In Libya, a national program has been started to supply small villages and other loads in remote and isolated areas, with electricity using PV power supply. This paper presents an economical comparison between the two different alternatives of electric supply systems to be used in remote areas: Diesel generators and PV systems. (Author)

Remote inspection system for nuclear power plants

International Nuclear Information System (INIS)

Inagaki, K.; Fujii, M.; Doi, A.; Harima, T.

1977-01-01

A remote inspection system for nuclear power plants was constructed based on an analysis of inspections performed by an operator on patrol. This system consists of an operator's console and a remote station. The remote station, equipped with five kinds of sensors, is steered along the inspection route by a photoelectric guiding system or may be manually controlled from an operator's console in a main control room. Signals for control and inspection data are multiplexed and transmitted through a coaxial cable

Architectures of Remote Monitoring Systems for a Nuclear Power Plant

International Nuclear Information System (INIS)

Choi, Yoo Rark; Lee, Jae Cheol; Kim, Jae Hee

2006-01-01

Aina(Artificial Intelligence for Nuclear Applications) have developed remote monitoring systems since the 1990's. We have been interested in the safety of reactor vessel, steam generator, pipes, valves and pumps. We have developed several remote inspection systems and will develop some remote care systems for a nuclear power plant. There were critical problems for building remote monitoring systems for mass data processing and remote user interface techniques in the middle of the 1990's. The network capacity wasn't sufficient to transfer the monitoring data to a remote computer. Various computer operating systems require various remote user interfaces. Java provides convenient and powerful interface facilities and the network transfer speed was increased greatly in the 2000's. Java is a good solution for a remote user interface but it can't work standalone in remote monitoring applications. The restrictions of Java make it impossible to build real time based applications. We use Java and a traditional language to improve this problem. We separate the remote user interface and the monitoring application

A Survey of a Remote Diagnosis Center for Nuclear Power Plants

International Nuclear Information System (INIS)

Choi, Yoo Rark; Lee, Jae Cheol; Kim, Jae Hee

2005-01-01

Methodologies for remote diagnosis have been developed and applied to medical care and lots of industrial fields. Modern science technologies such as a fast network, high computing power, sensing technology and advanced robot engineering make it possible to diagnose remote targets. Nuclear power plant(NPP) has highly connected network enabling systems. The systems (accumulated data analysis systems, alarm systems, main control panel, NPP database systems and so on) are connected with each other through a network. But remote diagnosis researches for a NPP have been developed individually. Efficient monitoring power, convenient management and a costcutting of the diagnosis will be provided through integration of the remote diagnosis technologies. The result of the integration can be represented as a remote diagnosis center. We propose an architecture of the remote diagnosis center for a NPP in this paper

The operational challenge of remote maintenance

International Nuclear Information System (INIS)

Forsythe, L.

2015-01-01

Full text of publication follows. With the declining supply of fossil fuels that are used in power stations today, and the ongoing concern over climate change, nuclear fusion is one of the most promising options for generating large amounts of carbon-free energy in the future. Fuel supplies for fusion will be available for millions of years, with 1 kg of fusion fuel providing the same amount of energy as 10 thousand tonnes of fossil fuel. Unlike conventional fission reactors, the radioactive waste produced from fusion is short-lived, and will be safe to dispose of conventionally within 100 years. Although fusion has the huge advantage of being a carbon free energy source, there are complexities when it comes to maintaining the machine. Due to the nature of the fusion reaction, the components within the area of the reactor vacuum vessel become radioactive, which requires maintenance and modifications to be conducted remotely to protect human operators. Remote maintenance is the use of manipulators to carry out tasks in challenging or hostile environments, which would otherwise cause harm to humans. Remote handling slave manipulators do the work of a human by mimicking the movements from a master robotic manipulator that is controlled by a human operator. This means that remote handling can be used in many other areas other too, such as space; fission power plants; sub-sea; and nuclear material handling or in adverse environments such as: low or high temperature; chemically contaminated; combustible and low oxygen environments. Remote maintenance requires specialist engineers to take into consideration many aspects normally taken for granted when carrying out a task manually. Constraints such as the space around us; viewing and lighting; the human body's dexterity and flexibility; the weight and centre of gravity of tools and components, and how we securely grip and handle them; and access to fixings and fastenings. All these are factors that require careful

Development of Heavy-Duty and High-Precision Hydraulic Manipulator for Inspection, Maintenance and Decommission of Nuclear Power Plants

Energy Technology Data Exchange (ETDEWEB)

Lee, Sung Uk; Seo, Yong-chil; Jung, Kyung Min; Kim, Chang-hoi; Choi, Byung-seon; Moon, Jei-kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Robotic manipulators have been used for inspection, maintenance and decommission of nuclear power plants because nuclear power plants have high radiation and human workers cannot easily access the plants. And also, to inspecting, maintaining and decommissioning nuclear power plants require various manipulators. Only one manipulator cannot response to many required tasks. The existing manipulators that was used at nuclear power plants can only operate only focused specific task and cannot be used at several tasks. The actuators used at manipulators are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of manipulator is time consuming and expensive. The essential item of a manipulator is an actuator module. If actuator module is standardized, it’s easier to develop a manipulator and also maintain a manipulator. Recently, manipulator having high-radiation, high-duty and high-precision is necessary to inspection, maintain and decommissioning of nuclear power plants. Hydraulic actuator has been used to development high-duty manipulator. But control performance of a hydraulic actuator is not better than that of an electric actuator so that hydraulic manipulator cannot easily satisfy the required precision. In this paper, we developed high-duty and high-precision actuator modules and hydraulic manipulator using the developed actuator modules. The developed hydraulic manipulator have a payload of 250kg and a precision of ±1mm. Four modularized hydraulic actuator modules were developed for inspection, maintenance and decommission. Using the developed actuator modules, the manipulator for decommissioning is easily developed. And also, various manipulators having different kinematic structure for specific tasks will be easily developed by using hydraulic modules.

Development of Heavy-Duty and High-Precision Hydraulic Manipulator for Inspection, Maintenance and Decommission of Nuclear Power Plants

International Nuclear Information System (INIS)

Lee, Sung Uk; Seo, Yong-chil; Jung, Kyung Min; Kim, Chang-hoi; Choi, Byung-seon; Moon, Jei-kwon

2016-01-01

Robotic manipulators have been used for inspection, maintenance and decommission of nuclear power plants because nuclear power plants have high radiation and human workers cannot easily access the plants. And also, to inspecting, maintaining and decommissioning nuclear power plants require various manipulators. Only one manipulator cannot response to many required tasks. The existing manipulators that was used at nuclear power plants can only operate only focused specific task and cannot be used at several tasks. The actuators used at manipulators are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of manipulator is time consuming and expensive. The essential item of a manipulator is an actuator module. If actuator module is standardized, it’s easier to develop a manipulator and also maintain a manipulator. Recently, manipulator having high-radiation, high-duty and high-precision is necessary to inspection, maintain and decommissioning of nuclear power plants. Hydraulic actuator has been used to development high-duty manipulator. But control performance of a hydraulic actuator is not better than that of an electric actuator so that hydraulic manipulator cannot easily satisfy the required precision. In this paper, we developed high-duty and high-precision actuator modules and hydraulic manipulator using the developed actuator modules. The developed hydraulic manipulator have a payload of 250kg and a precision of ±1mm. Four modularized hydraulic actuator modules were developed for inspection, maintenance and decommission. Using the developed actuator modules, the manipulator for decommissioning is easily developed. And also, various manipulators having different kinematic structure for specific tasks will be easily developed by using hydraulic modules

Remote operation and maintenance support services for nuclear power plants

International Nuclear Information System (INIS)

Yamamoto, Hiroki; Higuma, Koji; Shimizu, Shunichi; Sakuma, Masatake; Sonoda, Yukio; Kanemoto, Shigeru

2004-01-01

Toshiba Corporation constructed e-Toshiba Operating Plant Service (e-TOPS TM ) system and began remote operation and maintenance support service for nuclear power plants. The service put into practice remote operation and maintenance by harmony of information technologies such as internet and mobile, and nuclear power measurement/diagnostic technologies and security techniques. Outline of e-TOPS TM , remote-control service, -inspection system, -diagnostic service and technologies support service are explained. Construction, objects and application effects of e-TOPS TM , remote diagnostic system using image treatment techniques, construction of device record card control system are illustrated. (S.Y.)

Power-Based Setpoint Control : Experimental Results on a Planar Manipulator

NARCIS (Netherlands)

Dirksz, D. A.; Scherpen, J. M. A.

In the last years the power-based modeling framework, developed in the sixties to model nonlinear electrical RLC networks, has been extended for modeling and control of a larger class of physical systems. In this brief we apply power-based integral control to a planar manipulator experimental setup.

Informatics in radiology: Intuitive user interface for 3D image manipulation using augmented reality and a smartphone as a remote control.

Science.gov (United States)

Nakata, Norio; Suzuki, Naoki; Hattori, Asaki; Hirai, Naoya; Miyamoto, Yukio; Fukuda, Kunihiko

2012-01-01

Although widely used as a pointing device on personal computers (PCs), the mouse was originally designed for control of two-dimensional (2D) cursor movement and is not suited to complex three-dimensional (3D) image manipulation. Augmented reality (AR) is a field of computer science that involves combining the physical world and an interactive 3D virtual world; it represents a new 3D user interface (UI) paradigm. A system for 3D and four-dimensional (4D) image manipulation has been developed that uses optical tracking AR integrated with a smartphone remote control. The smartphone is placed in a hard case (jacket) with a 2D printed fiducial marker for AR on the back. It is connected to a conventional PC with an embedded Web camera by means of WiFi. The touch screen UI of the smartphone is then used as a remote control for 3D and 4D image manipulation. Using this system, the radiologist can easily manipulate 3D and 4D images from computed tomography and magnetic resonance imaging in an AR environment with high-quality image resolution. Pilot assessment of this system suggests that radiologists will be able to manipulate 3D and 4D images in the reading room in the near future. Supplemental material available at http://radiographics.rsna.org/lookup/suppl/doi:10.1148/rg.324115086/-/DC1.

Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

International Nuclear Information System (INIS)

Duan Xingguang; Wang Yonggui; Li Meng; Kong Xiangzhan; Liu Qingsong

2016-01-01

To reduce labor intensity and irradiation exposure time inside the steam generator during the maintenance period of the nuclear power plant, a blocking plate manipulation robot system, including manipulation robot and pneumatic control console, is developed as an automatic remote-control tool to help staff to complete sealing steam generator primary pipes. The manipulation robot for fastening/loosening bolts utilizes visual guidance for target position, and the recognition algorithm is exerted to extract the bolt center coordinate values from image captured by camera in the procedure. The control strategy based on the position and current feedback is proposed for single bolt operation and whole bolts automatic operation. Meanwhile, the virtual interactive interface and remote monitoring are designed to improve the operability and safety. Finally, the relative experiments have verified the work effectiveness and the future work would be discussed. (author)

Remote-site power generation opportunities for Alaska

Energy Technology Data Exchange (ETDEWEB)

Jones, M.L.

1997-03-01

The Energy and Environmental Research Center (EERC) has been working with the Federal Energy Technology Center in Morgantown, West Virginia, to assess options for small, low-cost, environmental acceptable power generation for application in remote areas of Alaska. The goal of this activity was to reduce the use of fuel in Alaskan villages by developing small, low-cost power generation applications. Because of the abundance of high-quality coal throughout Alaska, emphasis was placed on clean coal applications, but other energy sources, including geothermal, wind, hydro, and coalbed methane, were also considered. The use of indigenous energy sources would provide cheaper cleaner power, reduce the need for PCE (Power Cost Equalization program) subsidies, increase self-sufficiency, and retain hard currency in the state while at the same time creating jobs in the region. The introduction of economical, small power generation systems into Alaska by US equipment suppliers and technology developers aided by the EERC would create the opportunities for these companies to learn how to engineer, package, transport, finance, and operate small systems in remote locations. All of this experience would put the US developers and equipment supply companies in an excellent position to export similar types of small power systems to rural areas or developing countries. Thus activities in this task that relate to determining the generic suitability of these technologies for other countries can increase US competitiveness and help US companies sell these technologies in foreign countries, increasing the number of US jobs. The bulk of this report is contained in the two appendices: Small alternative power workshop, topical report and Global market assessment of coalbed methane, fluidized-bed combustion, and coal-fired diesel technologies in remote applications.

Master-slave manipulator

International Nuclear Information System (INIS)

Haaker, L.W.; Jelatis, D.G.

1981-01-01

A remote control master-slave manipulator for performing work on the opposite side of a barrier wall, is described. The manipulator consists of a rotatable horizontal support adapted to extend through the wall and two longitudinally extensible arms, a master and a slave, pivotally connected one to each end of the support. (U.K.)

Remote sensing for wind power potential: a prospector's handbook

Energy Technology Data Exchange (ETDEWEB)

Wade, J.E.; Maule, P.A.; Bodvarsson, G.; Rosenfeld, C.L.; Woolley, S.G.; McClenahan, M.R.

1983-02-01

Remote sensing can aid in identifying and locating indicators of wind power potential from the terrestrial, marine, and atmospheric environments (i.e.: wind-deformed trees, white caps, and areas of thermal flux). It is not considered as a tool for determining wind power potential. A wide variety of remotely sensed evidence is described in terms of the scale at which evidence of wind power can be identified, and the appropriate remote sensors for finding such evidence. Remote sensing can be used for regional area prospecting using small-scale imagery. The information from such small-scale imagery is most often qualitative, and if it is transitory, examination of a number of images to verify presistence of the feature may be required. However, this evidence will allow rapid screening of a large area. Medium-scale imagery provides a better picture of the evidence obtained from small-scale imagery. At this level it is best to use existing imagery. Criteria relating to land use, accessibility, and proximity of candidate sites to nearby transmission lines can also be effectively evaluated from medium-scale imagery. Large-scale imagery provides the most quantitative evidence of the strength of wind. Wind-deformed trees can be identified at a large number of sites using only a few hours in locally chartered aircraft. A handheld 35mm camera can adequately document any evidence of wind. Three case studies that employ remote sensing prospecting techniques are described. Based on remotely sensed evidence, the wind power potential in three geographically and climatically diverse areas of the United States is estimated, and the estimates are compared to actual wind data in those regions. In addition, the cost of each survey is discussed. The results indicate that remote sensing for wind power potential is a quick, cost effective, and fairly reliable method for screening large areas for wind power potential.

A historical perspective of remote operations and robotics in nuclear facilities

International Nuclear Information System (INIS)

Herndon, J.N.

1992-01-01

The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. The technology which we recognize today as remote technology has evolved over the last 45 years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed largely due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Manipulation systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Viewing systems have included periscopes, shield windows, and television systems. Experience over the past 45 years indicates that maintenance system flexibility is essential to typical repair tasks because they are usually not repetitive, structured, or planned. Fully remote design (manipulation, task provisions, remote tooling, and facility synergy) is essential to work task efficiency. Work for space applications has been primarily research oriented with relatively few successful space applications, although the shuttle's remote manipulator system has been quite successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus

Robots in Power Reactor and Nuclear Fuel Development Corporation

International Nuclear Information System (INIS)

Koizumi, Masumichi

1984-01-01

The Power Reactor and Nuclear Fuel Development Corp. has carried out the technical development concerning ATRs and FBRs, nuclear fuel cycle, the uranium enrichment by centrifugal separation, the reprocessing of spent fuel, and the treatment and disposal of wastes. For the purpose, the Corp. has operated diversified nuclear facilities, and for the operational management of these nuclear facilities, aiming at the reduction of radiation exposure of workers, the shortening of working time, or the rise of the capacity ratio of the facilities, the technical development related to robots has been advanced. Namely, the equipment for the remote maintenace and repair of facilities, the equipment for checkup and monitoring and the equipment for test and inspection are the main subjects of robot development. Hereafter, it is necessary to develop the equipment to which the function of high grade is given and to automate main processes and checkup and monitoring system as well as to improve the reliability and endurance of facilities. The development of the manipulator system for remote maintenance, the facility of handling high radioactive substances and a master-slave manipulator, a power manipulator and a remote transfer equipment, the development of a remote repair and checkup equipment in the reprocessing plant, a remote maintenance and checkup equipment for FBRs and a remote automatic inspection equipment for ATRs are reported. (Kako, I.)

Remotely powered and controlled EAPap actuator by amplitude modulated microwaves

International Nuclear Information System (INIS)

Yang, Sang Yeol; Mahadeva, Suresha K; Kim, Jaehwan

2013-01-01

This paper reports on a remotely powered and controlled Electro-Active Paper (EAPap) actuator without onboard controller using amplitude modulated microwaves. A rectenna is a key element for microwave power transmission that converts microwaves into dc power through coupling and rectification. In this study, the concept of a remotely controlled and powered EAPap actuator is proposed by means of modulating microwaves with a control signal and demodulating it through the rectenna rectification. This concept is applied to a robust EAPap actuator, namely cellulose–polypyrrole–ionic liquid (CPIL) EAPap. Details of fabrication and characterization of the rectenna and the CPIL-EAPap actuator are explained. Also, the charge accumulation problem of the actuator is explained and resolved by connecting an additional resistor. Since this idea can eliminate the onboard controller by supplying the operating signal through modulation, a compact and lightweight actuator can be achieved, which is useful for biomimetic robots and remotely driven actuators. (technical note)

Power management of remote microgrids considering battery lifetime

Science.gov (United States)

Chalise, Santosh

Currently, 20% (1.3 billion) of the world's population still lacks access to electricity and many live in remote areas where connection to the grid is not economical or practical. Remote microgrids could be the solution to the problem because they are designed to provide power for small communities within clearly defined electrical boundaries. Reducing the cost of electricity for remote microgrids can help to increase access to electricity for populations in remote areas and developing countries. The integration of renewable energy and batteries in diesel based microgrids has shown to be effective in reducing fuel consumption. However, the operational cost remains high due to the low lifetime of batteries, which are heavily used to improve the system's efficiency. In microgrid operation, a battery can act as a source to augment the generator or a load to ensure full load operation. In addition, a battery increases the utilization of PV by storing extra energy. However, the battery has a limited energy throughput. Therefore, it is required to provide balance between fuel consumption and battery lifetime throughput in order to lower the cost of operation. This work presents a two-layer power management system for remote microgrids. First layer is day ahead scheduling, where power set points of dispatchable resources were calculated. Second layer is real time dispatch, where schedule set points from the first layer are accepted and resources are dispatched accordingly. A novel scheduling algorithm is proposed for a dispatch layer, which considers the battery lifetime in optimization and is expected to reduce the operational cost of the microgrid. This method is based on a goal programming approach which has the fuel and the battery wear cost as two objectives to achieve. The effectiveness of this method was evaluated through a simulation study of a PV-diesel hybrid microgrid using deterministic and stochastic approach of optimization.

Nonimaging optical designs for maximum-power-density remote irradiation.

Science.gov (United States)

Feuermann, D; Gordon, J M; Ries, H

1998-04-01

Designs for flexible, high-power-density, remote irradiation systems are presented. Applications include industrial infrared heating such as in semiconductor processing, alternatives to laser light for certain medical procedures, and general remote high-brightness lighting. The high power densities in herent to the small active radiating regions of conventional metal-halide, halogen, xenon, microwave-sulfur, and related lamps can be restored with nonimaging concentrators with little loss of power. These high fluxlevels can then be transported at high transmissivity with light channels such as optical fibers or lightpipes, and reshaped into luminaires that can deliver prescribed angular and spatial flux distributions onto desired targets. Details for nominally two- and three-dimensional systems are developed, along with estimates ofoptical performance.

Manipulator system man-machine interface evaluation program. [technology assessment

Science.gov (United States)

Malone, T. B.; Kirkpatrick, M.; Shields, N. L.

1974-01-01

Application and requirements for remote manipulator systems for future space missions were investigated. A manipulator evaluation program was established to study the effects of various systems parameters on operator performance of tasks necessary for remotely manned missions. The program and laboratory facilities are described. Evaluation criteria and philosophy are discussed.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

Hudson, Thomas C.; Helser, Aren T.; Sonnenwald, Diane H.

2004-01-01

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a distributed, collaborative virtual environment system supporting remote scientific collaboration between users of the nanoManipulator interface to atomic force microscopes. This paper describes the entire...

Development of a control system for a heavy object handling manipulator. Application to a remote maintenance system for ITER blanket module

International Nuclear Information System (INIS)

Yoshimi, Takashi; Tsuji, Kouichi; Miyagawa, Shinichi; Kubo, Tomomi; Kakudate, Satoshi; Tada, Eisuke

2001-01-01

This paper describes a control system for the heavy object handling manipulator. It has been developed for the blanket module remote maintenance system of ITER (International Thermonuclear Fusion Experimental Reactor). A rail-mounted vehicle-type manipulator is proposed for the precise handling of a blanket module which is about 4 tons in weight. Basically, this manipulator is controlled by teaching-playback technique. When grasping or releasing the module, the manipulator sags and the position of the end-effector changes about 50 [mm]. Applying only the usual teaching-playback control makes the smooth operation of setting/removing modules to/from the vacuum vessel wall difficult due to this position change. To solve this proper problem of heavy object handling manipulator, we have developed a system which uses motion patterns generated from two kinds of teaching points. These motion patterns for setting/removing heavy objects are generated by combining teaching points for positioning the manipulator with and without grasping the object. When these motion patterns are applied, the manipulator can transfer the object's weight smoothly at the setting/removing point. This developed system has been applied to the real-scale mock-up of the vehicle manipulator and through the actual module setting/removing experiments, we have verified its effectiveness and realized smooth maintenance operation. (author)

Remote maintenance in the building of the reactor of power plants

International Nuclear Information System (INIS)

Bonin, R.

1984-01-01

Examples describing the different operations requiring remote control for reactor maintenance are given. These operations include: refueling machines (for closure stud, vessel flange cleaning, screwing plug for channel head, swimming pool decontamination) in-service inspection machines (MIS, spider for eddy current testing of steam generator, television) and routine or accidental maintenance (leak detection in water boxes, maintenance spider, opening or closing primary manways, decontamination manipulators and various automatic control devices) [fr

Remote Power Control Injection of Grid-Connected Power Converters Based on Virtual Flux

Directory of Open Access Journals (Sweden)

Nurul Fazlin Roslan

2018-02-01

Full Text Available Renewable Energy Source (RES-based power plants need to control the active and reactive power at the Point of Common Connection (PCC with the grid, in order to comply with the requirements of the Transmission System Operators (TSOs. This point is normally far away from the power converter station, and the cables and step-up transformers have a non-neglectable influence on the delivered power. In order to overcome this drawback, this paper presents a control algorithm that permits one to control remotely the power injected at the PCC, by adjusting the local controller of the Voltage Source Converters (VSCs. In this work, the synchronization with the grid is done based on the Virtual Flux (VF concept. The results reveals that the VF estimation is able to produce a reliable estimation of the grid voltage in any point of the network, and makes it possible to calculate the necessary current reference for injecting a desired active and reactive power at a point that can be some kilometres away. In this paper the main principle for this remote power control is presented. Likewise, the simulation and experimental results will be shown in order to analyse the effectiveness of the proposed system.

Fuel cell/photovoltaic integrated power system for a remote telecommunications repeater

Energy Technology Data Exchange (ETDEWEB)

Lehman, P.; Chamberlin, C.; Zoellick, J.; Engel, R.; Rommel, D. [Humbolt State University, Arcata, CA (United States). Schatz Energy Research Center

2002-07-01

There is a special energy supply challenge associated with remote telecommunication systems, as they require reliable, unattended power system operation in areas and locations where there is no grid power. To supply back-up power to the Schoolhouse Peak remote photovoltaic-powered radio-telephone repeater located in Redwood National Park in northwestern California, the Schatz Energy Research Center built and operated a proton exchange membrane (PEM) fuel cell power system. In those instances where solar insolation is insufficient to maintain state-of-charge of the system's battery, the fuel cell automatically starts. Remote monitoring and control is made possible with the use of a cellular modem. The original fuel cell stack logged 3239 hours of run time in 229 days of operation. Subsequent to improvements and a rebuilt fuel cell stack, it operated for 3836 hours during 269 days. In this paper, system performance, long-term fuel cell voltage decay, and lessons learned and applied in system refurbishment were discussed. During this trial, the flawless performance of the hydrogen storage and delivery subsystem, the battery voltage-sensing relay, the safety shutdowns, and the remote data acquisition and control equipment was noted. To protect the stack from sudden temperature increases while minimizing unneeded parasitic loads, experience showed that a temperature-controlled fan switch, despite its additional complexity, was justified. 4 refs., 10 figs.

Emergency protection and nuclear power station remote monitoring

International Nuclear Information System (INIS)

Nowak, K.; Wolf, H.

1986-01-01

The States of the Federal Republic of Germany are planning emergency protection measures for the environment of nuclear power stations based on their statutory duty of care. In this connection the paper explains to what extent remote monitoring of nuclear power stations practised by the Federal Supervisory Authorities may support the design and implementation of emergency protection measures. (orig.) [de

Adaptive strategies of remote systems operators exposed to perturbed camera-viewing conditions

Science.gov (United States)

Stuart, Mark A.; Manahan, Meera K.; Bierschwale, John M.; Sampaio, Carlos E.; Legendre, A. J.

1991-01-01

This report describes a preliminary investigation of the use of perturbed visual feedback during the performance of simulated space-based remote manipulation tasks. The primary objective of this NASA evaluation was to determine to what extent operators exhibit adaptive strategies which allow them to perform these specific types of remote manipulation tasks more efficiently while exposed to perturbed visual feedback. A secondary objective of this evaluation was to establish a set of preliminary guidelines for enhancing remote manipulation performance and reducing the adverse effects. These objectives were accomplished by studying the remote manipulator performance of test subjects exposed to various perturbed camera-viewing conditions while performing a simulated space-based remote manipulation task. Statistical analysis of performance and subjective data revealed that remote manipulation performance was adversely affected by the use of perturbed visual feedback and performance tended to improve with successive trials in most perturbed viewing conditions.

Economical wind powered bioventing systems successfully applied at remote locations

International Nuclear Information System (INIS)

Graves, D.; Wilson, B.; Walker, K.

1996-01-01

Wind-powered bioventing systems were designed to operate at remote locations in the absence of electrical power. Laboratory measurements of soil respiration under bioventing conditions indicated the biodegradation of up to 25 mg of weathered diesel per kg of site soil per day. Further testing demonstrated the potential for harnessing wind-power to stimulate air movement through vadose zone soil. Several wind-powered bioventing systems were installed near Nome, Alaska. In situ respiration tests, soil gas composition measurements and measurable pressure changes in the soil indicated that the systems were capable of aerating the soil. Diesel range oil measurements indicated contaminant reductions up to 90% after only two treatments seasons. The results demonstrate the effectiveness of wind-powered biovents. The low cost, low maintenance, and simplicity of the biovents make them a very attractive treatment option for windy, remote sites with unsaturated soil impacted by biodegradable contaminants

Exporting Australia's remote area power supply industry

International Nuclear Information System (INIS)

Presnell, K.

2001-01-01

The Australian renewable energy industry has two faces: Remote Area Power Supply systems (RAPS), where the trade-off is between the traditional diesel generator and diesel hybrid or the stand alone renewable energy system. The competency of the Australian RAPS industry is recognised internationally. Grid connected renewable energy technologies, where industry activity is expanding rapidly, but where Australian competencies carry relatively little weight internationally (other than for research and development of related components such as big performance, crystalline silicon photovoltaic cells). Individual industry development strategies are required in each instance. The focus of this paper is on strategies that enhance the export potential of the Australian RAPS industry. Involvement of the electricity supply utilities is promoted as a means of quickly instituting a substantial industry presence. The term RAPS can be confusing. It is used to describe any supply system serving a remote user, be they a single property owner with a simple, stand alone DC photovoltaic supply, or several communities with complex, inter-connected, diesel/hybrid power stations, sometimes termed a 'remote-grid'. Utility interest tends to emerge as market fragmentation decreases, system complexity increases and economies of scale become evident. A review of the domestic situation is a necessary adjunct to development of export strategies for Australian RAPS products. The two are inexorably linked, as is reflected in the format of this paper. (author)

Manipulator systems for nuclear reactor decommissioning which can take end effectors

International Nuclear Information System (INIS)

Lampersberger, E.; Hell, W.; Vrba, H.

1995-01-01

The development of a remote-handling system on the basis of the new master-slave manipulator will decisively influence the possibilities of remote-controlled manipulation in nuclear technology under the premises of -high availability - universal range of application - a standard normal for industry - maintenance friendlyness. (orig.) [de

Remotely controlled repair at Douglas Point

International Nuclear Information System (INIS)

Anon.

1981-01-01

The Douglas Point nuclear generating station, completed in 1966, was Canada's first venture in commercial nuclear power. The discovery, 11 years later, of two perforations in auxiliary piping in a high radiation area led Atomic Energy of Canada Ltd and Ontario Hydro to develop new approaches to remotely controlled repair that will have much wider applications. Eddy current and ultrasonic testing were used to determine the pattern and extent of wear in a pipe encircled by a U-bolt, without first removing the U-bolt. Progress was monitored using remote TV cameras. Welding tools were designed and fabricated for the repairs, and a manipulator was also designed to transport the tool into its place of work. (author)

A New Remote Monitoring System Application in Laser Power Based on LabVIEW

Directory of Open Access Journals (Sweden)

Liu Gaoqiang

2016-01-01

Full Text Available In this paper, a new remote monitoring system based on LabVIEW was proposed to measure laser power automatically and remotely. This system consists of four basic components: an DH-JG2 optical power meter, a NI-USB 6008 data acquisition card, a personal computer (PC, and HP laserJet 1020 Plus printer. Since power output of laser is generally so unstable that abnormal work situation could not retroaction to inspectors right away, new system was designed to solve this problem. The detection system realized function of remote control by TCP protocol and mobile phone. Laser power curve that is measured by detection system demonstrated that the design has a good performance in real-time detection and operability.

Path planning of master-slave manipulator using graphic simulator

International Nuclear Information System (INIS)

Lee, J. Y.; Kim, S. H.; Song, T. K.; Park, B. S.; Yoon, J. S.

2002-01-01

To handle the high level radioactive materials such as spent fuels remotely, the master-slave manipulator is generally used as a remote handling equipment in the hot cell. To analyze the motion and to implement the training system by virtual reality technology, the simulator for M-S manipulator using the computer graphics is developed. The parts are modelled in 3-D graphics, assembled, and kinematics are assigned. The inverse kinematics of the manipulator is defined, and the slave of manipulator is coupled with master by the manipulator's specification. Also, the virtual work cell is implemented in the graphical environment which is the same as the real environment and the path planning method using the function of the collision detection for a manipulator are proposed. This graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management

Advanced remotely maintainable force-reflecting servomanipulator concept

International Nuclear Information System (INIS)

Kuban, D.P.; Martin, H.L.

1984-01-01

A remotely maintainable force-reflecting servomanipulator concept is being developed at the Oak Ridge National Laboratory as part of the Consolidated Fuel Reprocessing Program. This new manipulator addresses requirements of advanced nuclear fuel reprocessing with emphasis on force reflection, remote maintainability, reliability, radiation tolerance, and corrosion resistance. The advanced servomanipulator is uniquely subdivided into remotely replaceable modules which will permit in situ manipulator repair by spare module replacement. Manipulator modularization and increased reliability are accomplished through a force transmission system that uses gears and torque tubes. Digital control algorithms and mechanical precision are used to offset the increased backlash, friction, and inertia resulting from the gear drives. This results in the first remotely maintainable force-reflecting servomanipulator in the world. 10 references, 4 figures, 1 table

Design requirements and performance requirements for reactor fuel recycle manipulator systems

International Nuclear Information System (INIS)

Grundmann, J.G.

1975-01-01

The development of a new generation of remote handling devices for remote production work in support of reactor fuel recycle systems is discussed. These devices require greater mobility, speed and visual capability than remote handling systems used in research activities. An upgraded manipulator system proposed for a High-Temperature Gas-Cooled Reactor fuel refabrication facility is described. Design and performance criteria for the manipulators, cranes, and TV cameras in the proposed system are enumerated

Robot vision system R and D for ITER blanket remote-handling system

International Nuclear Information System (INIS)

Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Tesini, Alessandro

2014-01-01

For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system

Robot vision system R and D for ITER blanket remote-handling system

Energy Technology Data Exchange (ETDEWEB)

Maruyama, Takahito, E-mail: maruyama.takahito@jaea.go.jp [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka [Japan Atomic Energy Agency, Fusion Research and Development Directorate, Naka, Ibaraki-ken 311-0193 (Japan); Tesini, Alessandro [ITER Organization, Route de Vinon sur Verdon, 13115 St Paul Lez Durance (France)

2014-10-15

For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31°, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system.

Remote helium leak test of the DUPIC fuel rod

International Nuclear Information System (INIS)

Kim, W. K; Kim, S. S.; Lim, S. P.; Lee, J. W.; Yang, M. S.

1998-01-01

DUPIC(Direct Use of spent PWR fuel In CANDU reactor) is one of dry reprocessing fuel cycles to reuse irradiated PWR fuel in CANDU power plant. DUPIC fuel is so radioactive that DUPIC fuel is remotely fabricated at hot cell such as IMEF hot cell in which radiation is shielded and remote operation is possible. In this study, Helium leakage has been tested for the simulated DUPIC fuel rod manufactured by Nd:YAG laser end-cap welding at simulated hot cell. The remote inspection technique has been developed to evaluate the soundness of DUPIC fuel fabricated through new processes. Vacuum chamber has been developed to be remotely operated by manipulators at hot cell. As the result of remote test, Helium leakage of DUPIC fuel rod is around background level, CANDU specification has been satisfied. In the result of the study, remote test has been successfully performed at the simulated hot cell, and the soundness of DUPIC fuel rod welded by Nd:YAG laser has been confirmed

Progress report on the development of remotely operated tools

International Nuclear Information System (INIS)

Smith, A.T.

1984-08-01

This report contains a number of individual trials reports based upon work conducted in aid of a programme of feasibility studies into the size reduction of radioactive contaminated solid waste. The work was directed towards the identification of acceptable remotely operated tools and the means of deploying them for dismantling operations in a radioactive environment. Reliability, ease of maintenance, change of tool bits and common power sources have been major considerations in the trials assessments. Alternative end effector drive systems have also been considered when defining suitable manipulative capabilities and attention has also been directed towards a remotely controlled tool changing capability. (author)

Independent Orbiter Assessment (IOA): Assessment of the remote manipulator system FMEA/CIL

Science.gov (United States)

Tangorra, F.; Grasmeder, R. F.; Montgomery, A. D.

1988-01-01

The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort first completed an analysis of the Remote Manipulator System (RMS) hardware, generating draft failure modes and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were than compared to the NASA FMEA/CIL baseline with proposed Post 51-L updates included. A resolution of each discrepancy from the comparison is provided through additional analysis as required. The results of that comparison for the Orbiter RMS hardware are documented. The IOA product for the RMS analysis consisted of 604 failure mode worksheets that resulted in 458 potential critical items being identified. Comparison was made to the NASA baseline which consisted of 45 FMEAs and 321 CIL items. This comparison produced agreement on all but 154 FMEAs which caused differences in 137 CIL items.

Long-reach manipulators for decommissioning

International Nuclear Information System (INIS)

Webster, D.A.; Challinor, S.F.

1993-01-01

A survey of redundant facilities at Sellafield has identified that in many cases the conventional means of deploying remote handling equipment are not appropriate and that novel means must be employed. However, decommissioning is not a value adding activity and so expensive one off designs must be avoided. The paper will describe BNFL's approach to the synthesis from proprietary parts of a manipulator which can lift 3 te at a horizontal reach of over 5 metres and yet can still perform the dextrous manipulation necessary to remove small items. It will also cover the development of the manipulator control systems and the adaption of commercial handtools to be manipulator friendly. (author)

Capabilities of a remote work vehicle

International Nuclear Information System (INIS)

Whittaker, W.L.; Champeny, L.

1987-01-01

The remote work vehicle (RWV) is a mobile work system for recovery operations in radiological environments. A teleoperated, electrohydraulically powered system, the RWV features omnidirectional locomotion, a telescoping boom with a seven meter reach, a master/slave manipulator, ten cameras, a tether for sustained power, and an offboard console where three operators control vehicle functions. (The RWV is more fully described elsewhere see bibliography; capability is emphasized here). Capabilities of the base vehicle and specialized tooling allow the RWV to perform accident recovery tasks, including demolishing concrete and steel structures, decontaminating and sealing surfaces, removing water and sediment from flooded areas, emplacing shields, packaging and transporting materials, and performing general inspections. Aspirations for reliability have made the RWV an order of magnitude more complex than its predecessor recovery robots, and ambitions for task performance have made it two orders of magnitude more capable. In addition to nuclear recovery work, the RWV is a viable candidate for other remote work applications, including nuclear facility maintenance and decommissioning

Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

International Nuclear Information System (INIS)

Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo

2016-01-01

An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted

Design of a High Power Robotic Manipulator for Emergency Response to the Nuclear Accidents

Energy Technology Data Exchange (ETDEWEB)

Park, Jongwon; Bae, Yeong-Geol; Kim, Myoung Ho; Choi, Young Soo [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

An accident in a nuclear facility causes a great social cost. To prevent an unexpected nuclear accident from spreading to the catastrophic disaster, emergency response action in early stage is required. However, high radiation environment has been proved as a challenging obstacle for human workers to access to the accident site and take an action in previous accident cases. Therefore, emergency response robotic technology to be used in a nuclear accident site instead of human workers are actively conducted in domestically and internationally. Robots in an accident situation are required to carry out a variety of tasks depend on the types and patterns of accidents. An emergency response usually includes removing of debris, make an access road to a certain place and handling valves. These tasks normally involve high payload handling. A small sized high power robotic manipulator can be an appropriate candidate to deal with a wide spectrum of tasks in an emergency situation. In this paper, we discuss about the design of a high power robotic manipulator, which is capable of handling high payloads for an initial response action to the nuclear facility accident. In this paper, we presented a small sized high power robotic manipulator design. Actuator types of manipulator was selected and mechanical structure was discussed. In the future, the servo valve and hydraulic pump systems will be determined. Furthermore, control algorithms and test bed experiments will be also conducted.

Track-mounted remote handling system for the Tokamak Fusion Engineering Test

International Nuclear Information System (INIS)

Kelly, V.P.; Berger, J.D.; Daubert, R.L.; Yount, J.A.

1982-01-01

Concepts for remote handling machines (IVM) designed to transverse the interior of toroidal vessels with guidance and support from track systems have been developed for the proposed Tokamak Fusion Engineering Test (TFET). TFET has been proposed as an upgrade for the Tokamak Fusion Test Reactor (TFTR), currently nearing completion. The track-mounted IVMs were conceived to perform in-vessel remote maintenance for TFET, including removal and replacement of pump limiter blades and protective tiles as well as other maintenance-related tasks such as vessel wall inspection leak testing and interior cleanup. The conceptual IVMs consist of three manipulator arms mounted on a common frame member: a single power manipulator arm with high load carrying capacity and two lower-capacity servomanipulator arms. Descriptions of the IVM concepts, in-vessel track systems, and ex-vessel handling systems are presented

Remote handling systems for the Pride application

International Nuclear Information System (INIS)

Kim, K.; Lee, J.; Lee, H.; Kim, S.; Kim, H.

2010-10-01

In this paper is described the development of remote handling systems for use in the pyro processing technology development. Remote handling systems mainly include a BDSM (Bridge transported Dual arm Servo-Manipulator) and a simulator, all of which will be applied to the Pride (Pyro process integrated inactive demonstration facility) that is under construction at KAERI. BDMS that will traverse the length of the ceiling is designed to have two pairs of master-slave manipulators of which each pair of master-slave manipulators has a kinematic similarity and a force reflection. A simulator is also designed to provide an efficient means for simulating and verifying the conceptual design, developments, arrangements, and rehearsal of the pyro processing equipment and relevant devices from the viewpoint of remote operation and maintenance. In our research is presented activities and progress made in developing remote handling systems to be used for the remote operation and maintenance of the pyro processing equipment and relevant devices in the Pride. (Author)

Remote Fiber Laser Cutting System for Dismantling Glass Melter - 13071

Energy Technology Data Exchange (ETDEWEB)

Mitsui, Takashi; Miura, Noriaki [IHI Corporation, 1 Shin-Nakahara-cho, Isogo-ku, Yokohama, Kanagawa (Japan); Oowaki, Katsura; Kawaguchi, Isao [IHI Inspection and Instrumentation Co., Ltd, 1 Shin-Nakahara-cho, Isogo-ku, Yokohama, Kanagawa (Japan); Miura, Yasuhiko; Ino, Tooru [Japan Nuclear Fuel Limited, 4-108, Aza Okitsuke, Oaza Obuchi, Rokkasho-Mura, Kamikita-gun, Aomori (Japan)

2013-07-01

Since 2008, the equipment for dismantling the used glass melter has been developed in High-level Liquid Waste (HLW) Vitrification Facility in the Japanese Rokkasho Reprocessing Plant (RRP). Due to the high radioactivity of the glass melter, the equipment requires a fully-remote operation in the vitrification cell. The remote fiber laser cutting system was adopted as one of the major pieces of equipment. An output power of fiber laser is typically higher than other types of laser and so can provide high-cutting performance. The fiber laser can cut thick stainless steel and Inconel, which are parts of the glass melter such as casings, electrodes and nozzles. As a result, it can make the whole of the dismantling work efficiently done for a shorter period. Various conditions of the cutting test have been evaluated in the process of developing the remote fiber cutting system. In addition, the expected remote operations of the power manipulator with the laser torch have been fully verified and optimized using 3D simulations. (authors)

Remote Maintenance Design Guide for Compact Processing Units

Energy Technology Data Exchange (ETDEWEB)

Draper, J.V.

2000-07-13

Oak Ridge National Laboratory (ORNL) Robotics and Process Systems (RPSD) personnel have extensive experience working with remotely operated and maintained systems. These systems require expert knowledge in teleoperation, human factors, telerobotics, and other robotic devices so that remote equipment may be manipulated, operated, serviced, surveyed, and moved about in a hazardous environment. The RPSD staff has a wealth of experience in this area, including knowledge in the broad topics of human factors, modular electronics, modular mechanical systems, hardware design, and specialized tooling. Examples of projects that illustrate and highlight RPSD's unique experience in remote systems design and application include the following: (1) design of a remote shear and remote dissolver systems in support of U.S. Department of Energy (DOE) fuel recycling research and nuclear power missions; (2) building remotely operated mobile systems for metrology and characterizing hazardous facilities in support of remote operations within those facilities; (3) construction of modular robotic arms, including the Laboratory Telerobotic Manipulator, which was designed for the National Aeronautics and Space Administration (NASA) and the Advanced ServoManipulator, which was designed for the DOE; (4) design of remotely operated laboratories, including chemical analysis and biochemical processing laboratories; (5) construction of remote systems for environmental clean up and characterization, including underwater, buried waste, underground storage tank (UST) and decontamination and dismantlement (D&D) applications. Remote maintenance has played a significant role in fuel reprocessing because of combined chemical and radiological contamination. Furthermore, remote maintenance is expected to play a strong role in future waste remediation. The compact processing units (CPUs) being designed for use in underground waste storage tank remediation are examples of improvements in systems

Manipulating Liquids With Acoustic Radiation Pressure Phased Arrays

Science.gov (United States)

Oeftering, Richard C.

1999-01-01

High-intensity ultrasound waves can produce the effects of "Acoustic Radiation Pressure" (ARP) and "acoustic streaming." These effects can be used to propel liquid flows and to apply forces that can be used to move or manipulate floating objects or liquid surfaces. NASA's interest in ARP includes the remote-control agitation of liquids and the manipulation of bubbles and drops in liquid experiments and propellant systems. A high level of flexibility is attained by using a high-power acoustic phased array to generate, steer, and focus a beam of acoustic waves. This is called an Acoustic Radiation Pressure Phased Array, or ARPPA. In this approach, many acoustic transducer elements emit wavelets that converge into a single beam of sound waves. Electronically coordinating the timing, or "phase shift," of the acoustic waves makes it possible to form a beam with a predefined direction and focus. Therefore, a user can direct the ARP force at almost any desired point within a liquid volume. ARPPA lets experimenters manipulate objects anywhere in a test volume. This flexibility allow it to be used for multiple purposes, such as to agitate liquids, deploy and manipulate drops or bubbles, and even suppress sloshing in spacecraft propellant tanks.

International remote monitoring project Argentina Nuclear Power Station Spent Fuel Transfer Remote Monitoring System

International Nuclear Information System (INIS)

Schneider, S.; Lucero, R.; Glidewell, D.

1997-01-01

The Autoridad Regulataria Nuclear (ARN) and the United States Department of Energy (DOE) are cooperating on the development of a Remote Monitoring System for nuclear nonproliferation efforts. A Remote Monitoring System for spent fuel transfer will be installed at the Argentina Nuclear Power Station in Embalse, Argentina. The system has been designed by Sandia National Laboratories (SNL), with Los Alamos National Laboratory (LANL) and Oak Ridge National Laboratory (ORNL) providing gamma and neutron sensors. This project will test and evaluate the fundamental design and implementation of the Remote Monitoring System in its application to regional and international safeguards efficiency. This paper provides a description of the monitoring system and its functions. The Remote Monitoring System consists of gamma and neutron radiation sensors, RF systems, and video systems integrated into a coherent functioning whole. All sensor data communicate over an Echelon LonWorks Network to a single data logger. The Neumann DCM 14 video module is integrated into the Remote Monitoring System. All sensor and image data are stored on a Data Acquisition System (DAS) and archived and reviewed on a Data and Image Review Station (DIRS). Conventional phone lines are used as the telecommunications link to transmit on-site collected data and images to remote locations. The data and images are authenticated before transmission. Data review stations will be installed at ARN in Buenos Aires, Argentina, ABACC in Rio De Janeiro, IAEA Headquarters in Vienna, and Sandia National Laboratories in Albuquerque, New Mexico. 2 refs., 2 figs

Quantitative remote visual inspection in nuclear power industry

International Nuclear Information System (INIS)

Stone, M.C.

1992-01-01

A borescope is an instrument that is used within the power industry to visually inspect remote locations. It is typically used for inspections of heat exchangers, condensers, boiler tubes, and steam generators and in many general inspection applications. The optical system of a borescope, like the human eye, does not have a fixed magnification. When viewing an object close up, it appears large; when the same object is viewed from afar, it appears small. Humans, though, have two separate eyes and a brain that process information to calculate the size of an object. These attributes are considered secondary information. Until now, making a measurement using a borescope has been an educated guess. There has always been a need to make accurate measurements from borescope images. The realization of this capability would make remote visual inspection a quantitative nondestructive testing method versus a qualitative one. For nuclear power plants, it is an excellent technique for maintaining radiation levels as low as reasonably achievable. Remote visual measurement provides distance and limits the exposure time needed to make accurate measurements. The design problem, therefore, was to develop the capability to make accurate and repeatable measurements of objects or physical defects with a borescope-type instrument. The solution was achieved by designing a borescope with a novel shadow projection mechanism, integrated with an electronics module containing the video display circuitry and a measurement computer

The power within: The experimental manipulation of power interacts with trait BDD symptoms to predict interoceptive accuracy.

Science.gov (United States)

Kunstman, Jonathan W; Clerkin, Elise M; Palmer, Kateyln; Peters, M Taylar; Dodd, Dorian R; Smith, April R

2016-03-01

This study tested whether relatively low levels of interoceptive accuracy (IAcc) are associated with body dysmorphic disorder (BDD) symptoms. Additionally, given research indicating that power attunes individuals to their internal states, we sought to determine if state interoceptive accuracy could be improved through an experimental manipulation of power.. Undergraduate women (N = 101) completed a baseline measure of interoceptive accuracy and then were randomized to a power or control condition. Participants were primed with power or a neutral control topic and then completed a post-manipulation measure of state IAcc. Trait BDD symptoms were assessed with a self-report measure. Controlling for baseline IAcc, within the control condition, there was a significant inverse relationship between trait BDD symptoms and interoceptive accuracy. Continuing to control for baseline IAcc, within the power condition, there was not a significant relationship between trait BDD symptoms and IAcc, suggesting that power may have attenuated this relationship. At high levels of BDD symptomology, there was also a significant simple effect of experimental condition, such that participants in the power (vs. control) condition had better interoceptive accuracy. These results provide initial evidence that power may positively impact interoceptive accuracy among those with high levels of BDD symptoms.. This cross-sectional study utilized a demographically homogenous sample of women that reflected a broad range of symptoms; thus, although there were a number of participants reporting elevated BDD symptoms, these findings might not generalize to other populations or clinical samples. This study provides the first direct test of the relationship between trait BDD symptoms and IAcc, and provides preliminary evidence that among those with severe BDD symptoms, power may help connect individuals with their internal states. Future research testing the mechanisms linking BDD symptoms with IAcc, as

History of remote operations and robotics in nuclear facilities

International Nuclear Information System (INIS)

Herndon, J.N.

1992-01-01

The field of remote technology is continuing to evolve to support man's efforts to perform tasks in hostile environments. Remote technology has roots which reach into the early history of man. Fireplace pokers, blacksmith's tongs, and periscopes are examples of the beginnings of remote technology. The technology which we recognize today has evolved over the last 45-plus years to support human operations in hostile environments such as nuclear fission and fusion, space, underwater, hazardous chemical, and hazardous manufacturing. The four major categories of approach to remote technology have been (1) protective clothing and equipment for direct human entry, (2) extended reach tools using distance for safety, (3) telemanipulators with barriers for safety, and (4) teleoperators incorporating mobility with distance and/or barriers for safety. The government and commercial nuclear industry has driven the development of the majority of the actual teleoperator hardware available today. This hardware has been developed due to the unsatisfactory performance of the protective-clothing approach in many hostile applications. Systems which have been developed include crane/impact wrench systems, unilateral power manipulators, mechanical master/slaves, and servomanipulators. Work for space applications has been primarily research oriented with few successful space applications, although the shuttle's remote manipulator system has been successful. In the last decade, underwater applications have moved forward significantly, with the offshore oil industry and military applications providing the primary impetus. This document consists of viewgraphs and subtitled figures

Manipulator comparative testing program

International Nuclear Information System (INIS)

Draper, J.V.; Handel, S.J.; Sundstrom, E.; Herndon, J.N.; Fujita, Y.; Maeda, M.

1986-01-01

The Manipulator Comparative Testing Program examined differences among manipulator systems from the United States and Japan. The manipulator systems included the Meidensha BILARM 83A, the Model M-2 of Central Research Laboratories Division of Sargent Industries (CRL), and the GCA Corporation PaR Systems Model 6000. The site of testing was the Remote Operations Maintenance Demonstration (ROMD) facility, operated by the Fuel Recycle Division in the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory (ORNL). In all stages of testing, operators using the CRL Model M-2 manipulator had consistently lower times to completion and error rates than they did using other machines. Performance was second best with the Meidensha BILARM 83A in master-slave mode. Performance with the BILARM in switchbox mode and the PaR 6000 manipulator was approximately equivalent in terms of criteria recorded in testing. These data show no impact of force reflection on task performance

Development and design optimization of water hydraulic manipulator for ITER

International Nuclear Information System (INIS)

Kekaelaeinen, Teemu; Mattila, Jouni; Virvalo, Tapio

2009-01-01

This paper describes one of the research projects carried out in The Preparation of Remote Handling Engineers for ITER (PREFIT) program within the European Fusion Training Scheme (EFTS). This research project is focusing on the design and optimization of water hydraulic manipulators used to test several remote handling tasks of ITER at Divertor Test Platform 2 (DTP2), Tampere, Finland, and later in ITER. In this project, a water hydraulic manipulator designed and build by Department of Intelligent Hydraulics and Automation in Tampere University of Technology, Finland (TUT/IHA) is further optimized as a case study for a given manipulator requirement specification in order to illustrate and verify developed comprehensive design guidelines and performance metrics. Without meaningful manipulator performance parameters, the evaluation of alternative robot manipulators designs remains ad hoc at best. Therefore, more comprehensive design guidelines and performance metrics are needed for comparing and improving different existing manipulators versus task requirements or for comparing different digital prototypes at early design phase of manipulators. In this paper the description of the project, its background and developments are presented and discussed.

Manipulator Comparative Testing Program: Final report

International Nuclear Information System (INIS)

Draper, J.V.; Handel, S.J.; Sundstrom, E.; Herndon, J.N; Fujita, Y.; Maeda, M.

1987-02-01

The manipulator systems tested included the Meidensha BILARM 83A, the Central Research Laboratories Model M-2, and the GCA PaR Systems Model 6000. Six manipulator and control mode combinations were evaluated: (1) the BILARM in master/slave mode without force reflection, (2) the BILARM in master/slave mode with force reflection, (3) the Model M-2 in master/slave mode without force reflection, (4) the Model M-2 in master/slave mode with force reflection, (5) the BILARM with switchbox controls, and (6) the PaR 6000 with switchbox controls. The experiments examined differences between master/slave systems with and without force reflection and differences between master/slave systems and switchbox-controlled systems. A fourth experiment examined the relative contributions of the remote viewing system and the manipulator system to the performance of remote handling tasks. Results of the experiments showed that operators using the Model M-2 in master/slave mode had significantly faster times to completion than operators using the BILARM in master/slave mode, with about the same error rate per trial. Operators were slower using the BILARM with force reflection than without it, and they committed more errors. There was no statistically significant difference between force-reflection and nonforce-reflection conditions for the M-2 manipulator for any of the performance criteria. Tasks and procedures used in this testing were not sensitive to differences within any single system. No inferences about the effect of force reflection on remote task performance should be made from these data. The two manipulator systems in switchbox mode had significantly slower times to completion than any system in master/slave mode, with approximately the same error rate per trial. There were no significant differences between the BILARM in switchbox mode and the PaR arm

Remote maintenance concepts for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Davis, F.C.; Hager, E.R.

1988-01-01

Because deuterium-tritium fuel will be used in the Compact Ignition Tokamak (CIT), remote handling technology is needed to carry out some maintenance operations on the machine. In keeping with the compact, low-cost nature of CIT, remote maintenance is provided only for systems with the highest probability of failure. Remote operations include removing, repairing (if feasible), and replacing such components as thermal protection tiles on the first wall, radio-frequency (rf) heating modules, and diagnostic modules. For maintenance inside the vacuum vessel, major pieces of equipment under development include an articulated boom manipulator with servomanipulators, an inspection manipulator, and special tooling. For maintenance outside the cryostat, remote equipment includes a bridge-mounted manipulator system, equipment for decontamination and hot cell activities, and for handling and packaging solid radioactive waste. The conceptual design phase of the CIT project is nearing completion; research and development activities in support of the project include demonstrations of remote maintenance operations on full-size partial mock-ups. 9 figs

The Remotely Controlled Robot System for Nuclear Power Plants

International Nuclear Information System (INIS)

Koh, Kwangill; Lee, Gwangnam; Lim, Kyeyoung

1993-01-01

The problem of radioactivity has been our major concern. So, it makes the needs of remotely controlled robot system necessary for maintenance and repair services. Up to now, several foreign companies have been contracted for the maintenance of the steam generators of nuclear power plants in Korea, to acquire its own capability of maintaining the steam generators of it impossible for Korea to acquire its own capability of maintaining the steam generators. In case of emergency, it is difficult to take appropriate steps on its own. In order to resolve the above problems, it seems inevitable to develop the robot system for the inspection and repair of steam generator. This project intends to acquire domestic capabilities of maintaining steam generators, so that this advanced skills could be applied to the related areas. As a result, it will save immense money in the future. the purposes of development of the remotely controlled robot system are : to perform the desired tasks at the polluted area without requiring entry of personnel. to closely inspect the steam generator U-tubes at high speed. to inspect the steam generator intelligently and efficiently under the extreme circumstances where radioactivity problem is very severe. to use for the repair of steam generator tube. Considering from the social and technical standpoint, we can say that the development of the remotely controlled robot system for nuclear power plants resulted in great achievements. From the social standpoint, it should be recognized that domestic robot for nuclear power plant was successfully developed and operator was protected against radioactivity. Also, we advanced our skills in the area of mechanical and control system design for an articulated robot. Using the robot controller in hierarchical structure, it was possible to control the robot remotely. In addition, resolver feedback typed A C servo drive was proven to be sturdy in hazardous environment. Now we are confident that our robot will

A remotely operated excavator [HAZ-TRAK

International Nuclear Information System (INIS)

Anon.

1992-01-01

HAZ-TRAK is a remotely operated excavator and material handling system for nuclear waste site characterization, waste site remediation, and the decommissioning of nuclear facilities. HAZ-TRAK combines the power and mobility of a commercial excavator, with the dexterity and controllability of a force feedback manipulator system: when operating HAZ-TRAK as an excavator, the operator can feel buried objects. A master/slave control method enables the operator to intuitively control all the excavator arm functions with one hand. The main features of the excavator are described in this article. (author)

Large remote manipulator operating and maintenance experience at IEM cell

International Nuclear Information System (INIS)

Hicks, D.F.; McGuinness, P.W.

1985-01-01

The Interim Examination and Maintenance (IEM) Cell at the Fast Flux Test Facility (FFTF) has two large Electro-Mechanical Manipulators (EMM's). These manipulators are used for cell operations (processing of reactor core components) as well as general cell maintenance. From our eleven years of operation and maintenance experience with these large EMM's, we have learned many lessons concerning manipulator design. This paper describes the IEM Cell EMM design features and discusses operating and maintenance experience at the IEM Cell

Alternative power supply systems for remote industrial customers

Science.gov (United States)

Kharlamova, N. V.; Khalyasmaa, A. I.; Eroshenko, S. A.

2017-06-01

The paper addresses the problem of alternative power supply of remote industrial clusters with renewable electric energy generation. As a result of different technologies comparison, consideration is given to wind energy application. The authors present a methodology of mean expected wind generation output calculation, based on Weibull distribution, which provides an effective express-tool for preliminary assessment of required installed generation capacity. The case study is based on real data including database of meteorological information, relief characteristics, power system topology etc. Wind generation feasibility estimation for a specific territory is followed by power flow calculations using Monte Carlo methodology. Finally, the paper provides a set of recommendations to ensure safe and reliable power supply for the final customers and, subsequently, to provide sustainable development of the regions, located far from megalopolises and industrial centres.

Development and performance tests of the bridge-transported servo manipulator system for remote maintenance jobs in a hot cell

International Nuclear Information System (INIS)

Jin, Jae Hyun; Park, Byung Suk; Ko, Byung Seung; Yoon, Ji Sup; Jung, Ki Jung

2005-01-01

In this paper, a prototype of the Bridge-Transported Servo Manipulator (BTSM) system introduced, which has been developed to do operation and maintenance jobs remotely in a hot cell. The system consists of a telescopic transporter, a slave arm, a master arm, and a control system. Several tests such as a positional tracking, a weight handling, reliability, and operability have been performed and test results are presented. Based on the test results, an upgraded system which will be used during demonstrations of the advanced spent fuel conditioning process (ACP) has been designed.

Remote Working Level Monitor. Final report

International Nuclear Information System (INIS)

1977-01-01

The Remote Working Level Monitor (RWLM) is an instrument used to remotely monitor the RN-daughter concentrations and the Working Level (WL). It is an ac powered, microprocessor based instrument which multiplexes two independent detector units to a single central processor unit (CPU). The CPU controls the actuation of the detector units and processes and outputs the data received from these remote detector units. The remote detector units are fully automated and require no manual operation once they are set up. They detect and separate the alpha emitters of RaA and RaC' as well as detecting the beta emitters of RaB and RaC. The resultant pulses from these detected radioisotopes are transmitted to the CPU for processing. The programmed microprocessor performs the mathematical manipulations necessary to output accurate Rn-daughter concentrations and the WL. A special subroutine within the program enables the RWLM to run and output a calibration procedure on command. The data resulting from this request can then be processed in a separate program on most computers capable of BASIC programming. The calibration program results in the derivation of coefficients and beta efficiencies which provides calibrated coefficients and beta efficiencies

Safety considerations for various applications of remote multiplexing in nuclear power plants

International Nuclear Information System (INIS)

Leary, J.E.

1978-01-01

There is increasing interest in the application of remote multiplexing systems (RMS) for power plant applications. Remote multiplexing can replace the majority of conventional control and instrumentation signal cables. In addition, the RMS can perform control logic functions presently implemented by discrete hardwired circuit elements. The background and trends in the use of RMS and the attendant advantages and concerns are reviewed. Classifications of multiplexed digital systems are presented to show the evolution of this technology in power plant applications. Nuclear safety-related applications of RMS are discussed with emphasis on the impact of selected NRC Regulatory Guides on such applications. (author)

Counterweight system for master-slave manipulator

International Nuclear Information System (INIS)

Haaker, L.W.; Jelatis, D.G.

1981-01-01

A counterweight system is described for use in a remote control master-slave manipulator. The manipulator consists of a rotatable horizontal support adapted to extend through the wall and two longitudinally extensible arms, a master and a slave, pivotally connected one to each end of the support. Within the support there is a means of translating linear motion to rotary motion for transfer through the barrier wall and retranslating to linear motion. (U.K.)

Collision Detection for Underwater ROV Manipulator Systems

Directory of Open Access Journals (Sweden)

Satja Sivčev

2018-04-01

Full Text Available Work-class ROVs equipped with robotic manipulators are extensively used for subsea intervention operations. Manipulators are teleoperated by human pilots relying on visual feedback from the worksite. Operating in a remote environment, with limited pilot perception and poor visibility, manipulator collisions which may cause significant damage are likely to happen. This paper presents a real-time collision detection algorithm for marine robotic manipulation. The proposed collision detection mechanism is developed, integrated into a commercial ROV manipulator control system, and successfully evaluated in simulations and experimental setup using a real industry standard underwater manipulator. The presented collision sensing solution has a potential to be a useful pilot assisting tool that can reduce the task load, operational time, and costs of subsea inspection, repair, and maintenance operations.

Remote dismantling of the French Brennilis nuclear power plant

International Nuclear Information System (INIS)

Studenski, Joerg

2009-01-01

The paper deals with the remote dismantling of the decommissioned EL4 prototype power plant Brennilis in France. The block contains the reactor pressure vessel including internals and biological shield, the piping and the control systems. The authors describe the general operation principle of the reactor to illustrate the peculiarities of the dismantling concept and the concept-related challenges. Detailed information is given concerning the following issues: creation of an access to the reactor block, the used remote technology, dismantling of the coolant piping and the axial shield, dismantling of the reactor pressure vessel and the lateral shield. Special attention is given on the minimization of the produced radioactive waste.

Remote dismantling of the French Brennilis nuclear power plant

Energy Technology Data Exchange (ETDEWEB)

Studenski, Joerg [NUKEM Technologies GmbH (Germany)

2009-07-01

The paper deals with the remote dismantling of the decommissioned EL4 prototype power plant Brennilis in France. The block contains the reactor pressure vessel including internals and biological shield, the piping and the control systems. The authors describe the general operation principle of the reactor to illustrate the peculiarities of the dismantling concept and the concept-related challenges. Detailed information is given concerning the following issues: creation of an access to the reactor block, the used remote technology, dismantling of the coolant piping and the axial shield, dismantling of the reactor pressure vessel and the lateral shield. Special attention is given on the minimization of the produced radioactive waste.

Stainless steel decontamination manipulators

International Nuclear Information System (INIS)

Sullivan, R.J.

1986-01-01

Three, large-volume coverage manipulator systems were designed and built for the Defense Water Processing Facility at the Savannah River Laboratory. These stainless steel systems will be used for high-pressure spray decontamination of waste containers and large process equipment modules. Each system has a manipulator arm, folding boom, and vertical drive and guide structure. Handling capacity is 45 kg, horizontal reach is 4.6 m with a 180-deg swing motion, and the vertical travel is 6 m. The system is remotely removable and replaceable in modules using an overhead crane and an impact wrench. The manipulator arm has seven motions: Shoulder rotation and pivot, elbow pivot, wrist pivot and rotation, and grip open-close. All motions are variable speed and are slip-clutch protected to prevent overloading from external forces (collisions)

Near-field acoustic microbead trapping as remote anchor for single particle manipulation

Science.gov (United States)

Hwang, Jae Youn; Cheon, Dong Young; Shin, Hyunjune; Kim, Hyun Bin; Lee, Jungwoo

2015-05-01

We recently proposed an analytical model of a two-dimensional acoustic trapping of polystyrene beads in the ray acoustics regime, where a bead diameter is larger than the wavelength used. As its experimental validation, this paper demonstrates the transverse (or lateral) trapping of individual polystyrene beads in the near field of focused ultrasound. A 100 μm bead is immobilized on the central beam axis by a focused sound beam from a 30 MHz single element lithium niobate transducer, after being laterally displaced through hundreds of micrometers. Maximum displacement, a longest lateral distance at which a trapped bead can be directed towards the central axis, is thus measured over a discrete frequency range from 24 MHz to 36 MHz. The displacement data are found to be between 323.7 μm and 470.2 μm, depending on the transducer's driving frequency and input voltage amplitude. The experimental results are compared with their corresponding model values, and their relative errors lie between 0.9% and 3.9%. The results suggest that this remote maneuvering technique may be employed to manipulate individual cells through solid microbeads, provoking certain cellular reactions to localized mechanical disturbance without direct contact.

CLIMAN - a mobile manipulator concept

International Nuclear Information System (INIS)

Noltingk, B.E.; Owen, C.K.V.

With increasing age the integrity of more remote parts of reactors, such as the core restraints, is questioned so there is a need for a means of access to these places to carry out inspection, minor repairs and alterations. Conventional standpipe manipulators are about 20 m long so that extending them further presents difficulties of load capacity, rigidity, dexterity and control which must increase steeply with range. The proposal outlined here is for a mobile manipulator which can climb at the end of a cable (CLImbing MANipulator - CLIMAN) into a reactor and reach well beyond the range of a fixed base machine. In addition to virtually unlimited range such a mobile manipulator has twice as many degrees of freedom as a fixed base machine. Its body or base can be manoeuvred with six degrees of freedom so as to obtain the maximum coverage and obstacle avoidance for its manipulator. It is proposed that it should be manually controlled. (author)

Remote power supply by wind/diesel/battery systems - operational experience and economy

International Nuclear Information System (INIS)

Kniehl, R.; Cramer, G.; Toenges, K.H.

1995-01-01

To continuously supply remote villages and settlements not connected to the public grid with electric power is an ambitious technical task considering ecological and economical points of view. The German company SMA has developed a modular supply system as a solution for this task in the range of 30 kW to 5 MW. Meanwhile more than 20 applications of these 'Intelligent Power Systems (IPS)' have proved their technical reliability and economical competitiveness worldwide under different, and also extreme environmental conditions. Actually it is the first commercially available advanced Wind/Diesel/Battery System for remote area electrification. The modular autonomous electric supply systems realized by SMA basically consist of two or more diesel power sets, battery storage with converter, a rotating phaseshifter, and an optional number of wind turbines. All modules are coupled on the 3-phase AC system grid and run in various parallel configurations depending on the wind speed and the consumer power demand. The control system operates fully automatical and offers a very user-friendly graphical interface. This advanced system control also contains a remote control and operating data output via modem and telephone line. SMA and CES have considerable experience with Wind/Diesel/Battery Systems for more than eight years. In many cases wind energy converters in the power range of 30 to 40 kW were used, but it is also possible to use larger wind turbines (e.g. 250 kW). In the following the system technology is described in detail, experience of different system sizes in several countries of application is presented, and economical analyses for power supply by IPS are given in comparison to a conventional fully diesel power supply. (author)

Remote power supply by wind/diesel/battery systems - operational experience and economy

Energy Technology Data Exchange (ETDEWEB)

Kniehl, R [CES - Consulting and Engineering Services, Heidelberg (Germany); Cramer, G; Toenges, K H [SMA Regelsysteme GmbH, Niestetal (Germany)

1996-12-31

To continuously supply remote villages and settlements not connected to the public grid with electric power is an ambitious technical task considering ecological and economical points of view. The German company SMA has developed a modular supply system as a solution for this task in the range of 30 kW to 5 MW. Meanwhile more than 20 applications of these `Intelligent Power Systems (IPS)` have proved their technical reliability and economical competitiveness worldwide under different, and also extreme environmental conditions. Actually it is the first commercially available advanced Wind/Diesel/Battery System for remote area electrification. The modular autonomous electric supply systems realized by SMA basically consist of two or more diesel power sets, battery storage with converter, a rotating phaseshifter, and an optional number of wind turbines. All modules are coupled on the 3-phase AC system grid and run in various parallel configurations depending on the wind speed and the consumer power demand. The control system operates fully automatical and offers a very user-friendly graphical interface. This advanced system control also contains a remote control and operating data output via modem and telephone line. SMA and CES have considerable experience with Wind/Diesel/Battery Systems for more than eight years. In many cases wind energy converters in the power range of 30 to 40 kW were used, but it is also possible to use larger wind turbines (e.g. 250 kW). In the following the system technology is described in detail, experience of different system sizes in several countries of application is presented, and economical analyses for power supply by IPS are given in comparison to a conventional fully diesel power supply. (author)

Remote power supply by wind/diesel/battery systems - operational experience and economy

Energy Technology Data Exchange (ETDEWEB)

Kniehl, R. [CES - Consulting and Engineering Services, Heidelberg (Germany); Cramer, G.; Toenges, K.H. [SMA Regelsysteme GmbH, Niestetal (Germany)

1995-12-31

To continuously supply remote villages and settlements not connected to the public grid with electric power is an ambitious technical task considering ecological and economical points of view. The German company SMA has developed a modular supply system as a solution for this task in the range of 30 kW to 5 MW. Meanwhile more than 20 applications of these `Intelligent Power Systems (IPS)` have proved their technical reliability and economical competitiveness worldwide under different, and also extreme environmental conditions. Actually it is the first commercially available advanced Wind/Diesel/Battery System for remote area electrification. The modular autonomous electric supply systems realized by SMA basically consist of two or more diesel power sets, battery storage with converter, a rotating phaseshifter, and an optional number of wind turbines. All modules are coupled on the 3-phase AC system grid and run in various parallel configurations depending on the wind speed and the consumer power demand. The control system operates fully automatical and offers a very user-friendly graphical interface. This advanced system control also contains a remote control and operating data output via modem and telephone line. SMA and CES have considerable experience with Wind/Diesel/Battery Systems for more than eight years. In many cases wind energy converters in the power range of 30 to 40 kW were used, but it is also possible to use larger wind turbines (e.g. 250 kW). In the following the system technology is described in detail, experience of different system sizes in several countries of application is presented, and economical analyses for power supply by IPS are given in comparison to a conventional fully diesel power supply. (author)

Remote Systems Design & Deployment

Energy Technology Data Exchange (ETDEWEB)

Bailey, Sharon A.; Baker, Carl P.; Valdez, Patrick LJ

2009-08-28

The Pacific Northwest National Laboratory (PNNL) was tasked by Washington River Protection Solutions, LLC (WRPS) to provide information and lessons learned relating to the design, development and deployment of remote systems, particularly remote arm/manipulator systems. This report reflects PNNL’s experience with remote systems and lays out the most important activities that need to be completed to successfully design, build, deploy and operate remote systems in radioactive and chemically contaminated environments. It also contains lessons learned from PNNL’s work experiences, and the work of others in the national laboratory complex.

Managing collaboration in the nanoManipulator

DEFF Research Database (Denmark)

Hudson, Thomas C.; Heiser, Aron T.; Sonnenwald, Diane H.

2003-01-01

We designed, developed, deployed, and evaluated the Collaborative nanoManipulator (CnM), a system supporting remote collaboration between users of the nanoManipulator interface to atomic force microscopes. To be accepted by users, the shared nanoManipulator application had to have the same high...... level of interactivity as the single user system and the application had to support a user's ability to interleave working privately and working collaboratively. This paper briefly describes the entire collaboration system, but focuses on the shared nanoManipulator application. Based on our experience...... developing the CnM, we present: a method of analyzing applications to characterize the requirements for sharing data between collaborating sites, examples of data structures that support collaboration, and guidelines for selecting appropriate synchronization and concurrency control schemes....

Development Of Remote Hanford Connector Gasket Replacement Tooling For DWPF

International Nuclear Information System (INIS)

Krementz, D.; Coughlin, Jeffrey

2009-01-01

The Defense Waste Processing Facility (DWPF) requested the Savannah River National Laboratory (SRNL) to develop tooling and equipment to remotely replace gaskets in mechanical Hanford connectors to reduce personnel radiation exposure as compared to the current hands-on method. It is also expected that radiation levels will continually increase with future waste streams. The equipment is operated in the Remote Equipment Decontamination Cell (REDC), which is equipped with compressed air, two master-slave manipulators (MSM's) and an electro-mechanical manipulator (EMM) arm for operation of the remote tools. The REDC does not provide access to electrical power, so the equipment must be manually or pneumatically operated. The MSM's have a load limit at full extension of ten pounds, which limited the weight of the installation tool. In order to remotely replace Hanford connector gaskets several operations must be performed remotely, these include: removal of the spent gasket and retaining ring (retaining ring is also called snap ring), loading the new snap ring and gasket into the installation tool and installation of the new gasket into the Hanford connector. SRNL developed and tested tools that successfully perform all of the necessary tasks. Removal of snap rings from horizontal and vertical connectors is performed by separate air actuated retaining ring removal tools and is manipulated in the cell by the MSM. In order install a new gasket, the snap ring loader is used to load a new snap ring into a groove in the gasket installation tool. A new gasket is placed on the installation tool and retained by custom springs. An MSM lifts the installation tool and presses the mounted gasket against the connector block. Once the installation tool is in position, the gasket and snap ring are installed onto the connector by pneumatic actuation. All of the tools are located on a custom work table with a pneumatic valve station that directs compressed air to the desired tool and

Experience of remote under water handling operations at Tarapur Atomic Power Station

International Nuclear Information System (INIS)

Agarwal, S.K.

1990-01-01

Each Refuelling outage of Tarapur Atomic Power Station Reactors involves a great deal of remote underwater handling operations using special remote handling tools, working deep down in the reactor vessel under about sixty feet of water and in the narrow confines of highly radioactive core. The remote underwater handling operations include incore and out of core sipping operations, fuel reloading or shuffling, uncoupling of control rod drives, replacement and shuffling of control blades, replacement of local power range monitors, spent fuel shipment in casks, retrieval of fallen or displaced fuel top guide spacers, orifices and their installation, underwater CCTV inspection of reactor internals, core verification, channelling and dechannelling of fuel bundles, inspection of fuel bundles and channels, unbolting and removal of old racks, installation of high density racks, removal and reinstallation of fuel support plugs and guide tubes, underwater cutting of irradiated hardware material and their disposal, fuel reconstitution, removal and reinstallation of system dryer separator etc.. The paper describes in brief the salient experience of remote underwater handling operations at TAPS especially the unusual problems faced and solved, by using special tools, employing specific techniques and by repeated efforts, patience, ingenuity and skills. (author). 10 figs

Self-powered remotely controlled machines and tools for safety improvement in mining

Energy Technology Data Exchange (ETDEWEB)

Mirzaeva, G. [University of Newcastle, Callaghan, NSW (Australia)

2005-07-01

This paper addresses the problem of meeting the safety requirements of mining industry for implementation of control and monitoring equipment without external wiring. Local power generation and accumulation combined with remote control and wireless data transmission are suggested as an appropriate way to make the implementation of such device safe and convenient, which in its turn would facilitate their wider application for automation and safety improvement. A rope shovel dipper trip system is discussed in detail as an example of a self-powered remotely-controlled system. Other possible applications of the concept are also identified, such as Armoured Face Conveyor (AFC) and water jet drilling operation monitoring. 5 refs., 6 figs.

Manipulators in deep ocean environments, needs versus technology

International Nuclear Information System (INIS)

Mackey, L.A.; Stenovec, G.M.

1984-01-01

As exploration and production proceed into deeper water, remotely operated vehicles (ROVs) and their manipulators acquire many of the tasks now performed by divers in shallower water. The resulting increased complexity of work tasks requires more dexterious manipulators. Even the most sophisticated of the manipulators today cannot perform many of the work tasks now performed by divers in shallower waters. Manipulators cannot yet duplicate the functions of the human hand. How much technology must be improved to perform the desired tasks, and how much adapting of the work task or equipment must be done to achieve a workable underwater robotics environment?

General concept of a remote multipurpose vehicle for nuclear applications

International Nuclear Information System (INIS)

Devresse, M.; Costa, L.; DeBuck, F.

1984-01-01

A remotely operated autonomous system is presently developed for inspection and intervention inside the reactor building of nuclear power plants. The vehicle is also suitable for other nuclear and non-nuclear energy related task areas where inspection and intervention operations are taking place in hazardous environment. The goal of this remote robot is to significantly reduce personnel exposure to radiation or other risks. The system consists of five major items: an autonomous motorized carrier, two slave manipulators mounted on an interface structure, optical and environmental sensors, the digital electronic control and communication module, the man-machine interface. Main design and performance characteristics of the system are described as well as a description of the evaluation and test program

Visualization of virtual slave manipulator using the master input device

International Nuclear Information System (INIS)

Kim, S. H.; Song, T. K.; Lee, J. Y.; Yoon, J. S.

2003-01-01

To handle the high level radioactive materials such a spent fuel, the Master-Slave Manipulators (MSM) are widely used as a remote handling device in nuclear facilities such as the hot cell with sealed and shielded space. In this paper, the Digital Mockup which simulates the remote operation of the Advanced Conditioning Process(ACP) is developed. Also, the workspace and the motion of the slave manipulator, as well as, the remote operation task should be analyzed. The process equipment of ACP and Maintenance/Handling Device are drawn in 3D CAD models using IGRIP. Modeling device of manipulator is assigned with various mobiles attributes such as a relative position, kinematics constraints, and a range of mobility. The 3D graphic simulator using the external input device of space ball displays the movement of manipulator. To connect the external input device to the graphic simulator, the interface program of external input device with 6 DOF is deigned using the Low Level Tele-operation Interface (LLTI). The experimental result shows that the developed simulation system gives much-improved human interface characteristics and shows satisfactory response characteristics in terms of synchronization speed. This should be useful for the development of work's education system in the virtual environment

International Remote Monitoring Project Embalse Nuclear Power Station, Argentina Embalse Remote Monitoring System

International Nuclear Information System (INIS)

Schneider, Sigfried L.; Glidewell, Donnie D.; Bonino, Anibal; Bosler, Gene; Mercer, David; Maxey, Curt; Vones, Jaromir; Martelle, Guy; Busse, James; Kadner, Steve; White, Mike; Rovere, Luis

1999-01-01

The Autoridad Regulatoria Nuclear of Argentina (ARN), the International Atomic Energy Agency (IAEA), ABACC, the US Department of Energy, and the US Support Program POTAS, cooperated in the development of a Remote Monitoring System for nuclear nonproliferation efforts. This system was installed at the Embalse Nuclear Power Station last year to evaluate the feasibility of using radiation sensors in monitoring the transfer of spent fuel from the spent fuel pond to dry storage. The key element in this process is to maintain continuity of knowledge throughout the entire transfer process. This project evaluated the fundamental design and implementation of the Remote Monitoring System in its application to regional and international safeguard efficiency. New technology has been developed to enhance the design of the system to include storage capability on board sensor platforms. This evaluation has led to design enhancements that will assure that no data loss will occur during loss of RF transmission of the sensors

Development of the heavy manipulator vehicle system

International Nuclear Information System (INIS)

Herbst, C.; Paustian, P.; Kruger, W.

1993-01-01

After the severe reactor accident of Tschernobyl in 1986 MaK System started to develop a Heavy Manipulator Vehicle System under contract from German nuclear technology assistance company ''KHG'' (Kerntechnische Hilfsdienst GmbH). The system comprises a remote controlled manipulator vehicle, a mobile mission control stand as well as a transport/service unit. In order to fulfill the high demands of this complex system a couple of new developments had to be started. The paper describes some of these developments and gives an overview about the main features of the Heavy Manipulator Vehicle System (HMV). (author)

Primary reaction control system/remote manipulator system interaction with loaded arm. Space shuttle engineering and operations support

Science.gov (United States)

Taylor, E. C.; Davis, J. D.

1978-01-01

A study of the interaction between the orbiter primary reaction control system (PRCS) and the remote manipulator system (RMS) with a loaded arm is documented. This analysis was performed with the Payload Deployment and Retrieval Systems Simulation (PDRSS) program with the passive arm bending option. The passive-arm model simulates the arm as massless elastic links with locked joints. The study was divided into two parts. The first part was the evaluation of the response of the arm to step inputs (i.e. constant jet torques) about each of the orbiter body axes. The second part of the study was the evaluation of the response of the arm to minimum impulse primary RCS jet firings with both single pulse and pulse train inputs.

Why high-capacity manipulators and lead glass windows

International Nuclear Information System (INIS)

Grisham, D.L.; Lambert, J.E.

1981-01-01

The Monitor remote-handling system was developed to maintain the main experimental beam line at the Clinton P. Anderson Meson Physics Facility (LAMPF) of the Los Alamos National Laboratory. The technology and operating experience developed at LAMPF can be applied to other areas where handling of radioactive, hazardous, or toxic materials is required. These could include radiological incidents similar to Three Mile Island and toxic material spills, such as chlorine tank car derailments, where no provision for remote-handling exists. The technology can also be applied to routine radioactive remote-handling operations now conducted in conventional hot cells. These operations are normally done using mechanical master-slave manipulators with viewing through lead glass windows. The conventional facility can be replaced by a plain shielded box with an equivalent of the front end of Monitor inside. Master-slave manipulators of the future should be of 10-kg capacity with a force-reflection threshold of 0.2, minimum size, and provision for total sealing

Advance of the new MA 23 force reflecting manipulator system

International Nuclear Information System (INIS)

Vertut, Jean; Coiffet, Philippe; Petit, Michel

1976-01-01

This new bilateral servo manipulator system is under development since 1974, in close cooperation between different french organizations with the leadership of the Commissariat a l'Energie Atomique. This Group is facing in the same Technology different applications covering nuclear remote manipulation, undersea remote work, second generation industrial robots and manipulators for handicaped persons. Brief description of the different arms ranging from 5kg to 20kg mass capacity are given with corresponding tested performances. They all use original electric DC actuators with extremely low friction and zero backlash, with only cables and tapes. System works in different modes: the direct master slave force reflecting mode, an advanced tape recording programmer, minicomputer control, and the combined modes. Work is concentrated on full dynamic control and force control by minicomputer

Remote sensing for nuclear power plant siting

International Nuclear Information System (INIS)

Siegal, B.S.; Welby, C.W.

1981-01-01

Remote sensing techniques enhance the selection and evaluation process for nuclear power plant siting. The principal advantage is the synoptic view which improves recognition of linear features, possibly indicative of faults. The interpretation of such images, in conjunction with seismological studies, also permits delineation of seismo-tectonic provinces. In volcanic terrains, geomorphic-age boundaries can be delineated and volcanic centers identified, providing necessary guidance for field sampling and regional model derivation. The use of such techniques is considered for studies in the Philippines, Mexico, and Greece. 5 refs

Description of European Space Agency (ESA) Remote Manipulator (RM) System Breadboard Currently Under Development for Demonstration of Critical Technology Foreseen to be Used in the Mars Sample Receiving Facility (MSRF)

Science.gov (United States)

Vrublevskis, J.; Duncan, S.; Berthoud, L.; Bowman, P.; Hills, R.; McCulloch, Y.; Pisla, D.; Vaida, C.; Gherman, B.; Hofbaur, M.; Dieber, B.; Neythalath, N.; Smith, C.; van Winnendael, M.; Duvet, L.

2018-04-01

In order to avoid the use of 'double walled' gloves, a haptic feedback Remote Manipulation (RM) system rather than a gloved isolator is needed inside a Double Walled Isolator (DWI) to handle a sample returned from Mars.

Remote maintenance of Compact Ignition Tokamak ex-vessel systems

International Nuclear Information System (INIS)

DePew, R.E.; Macdonald, D.

1989-01-01

The use of deuterium-tritium (D-T) fuel in the Compact Ignition Tokamak (CIT) will require applying remote handling technology for ex-vessel maintenance and replacement of machine components. Highly activated and contaminated components of the fusion device's auxiliary systems, such as diagnostics and RF heating, must be replaced using remotely operated maintenance equipment in the test cell. Throughout the CIT remote maintenance (RM) studies conducted to date, computer modeling has been used extensively to investigate manipulator access in these complex, tightly packed, and cluttered surroundings. A recent refinement of computer modeling involves the use of an intelligent engineering work station for realtime interactive display of task simulations. This paper discusses the use of three-dimensional (3-D) kinematic computer models of the CIT machines that are proving to be powerful tools in our efforts to evaluate RM requirements. This presentation includes a video-taped simulation of remote replacement of a plasma viewing assembly. The simulation illustrates some of the constraints associated with typical RM activities and the ways in which computer modeling enhances the design process. 1 ref., 3 figs

Remote Power Systems for Sensors on the Northern Border

Energy Technology Data Exchange (ETDEWEB)

Simpson, Lin J [National Renewable Energy Laboratory (NREL), Golden, CO (United States); Kandt, Alicen J [National Renewable Energy Laboratory (NREL), Golden, CO (United States)

2017-06-08

The National Renewable Energy Laboratory (NREL) is working with the Department of Homeland Security (DHS) [1] to field sensors that accurately track different types of transportation across the northern border of the U.S.. To do this, the sensors require remote power so that they can be placed in the most advantageous geographical locations, often where no grid power is available. This enables the sensors to detect and track aircraft/vehicles despite natural features (e.g., mountains, ridges, valleys, trees) that often prevent standard methods (e.g., monostatic radar or visual observers) from detecting them. Without grid power, portable power systems were used to provide between 80 and 300 W continuously, even in bitter cold and when buried under feet of snow/ice. NREL provides details about the design, installation, and lessons learned from long-term deployment of a second-generation of novel power systems that used adjustable-angle photovoltaics (PV), lithium ion batteries, and fuel cells that provide power to achieve 100% up-time.

Electrical power supply and controls for a remotely operated glass melter for nuclear waste

International Nuclear Information System (INIS)

Haideri, A.Q.

1985-01-01

An electrical power supply, controls and instruments used for a joule heated glass melter for nuclear waste are discussed. Remotely replaceable interconnection wiring assemblies for power, controls and instruments are also described

Near-field acoustic microbead trapping as remote anchor for single particle manipulation

Energy Technology Data Exchange (ETDEWEB)

Hwang, Jae Youn [Department of Information and Communication Engineering, Daegu Gyeongbuk Institute of Science and Technology, Daegu (Korea, Republic of); Cheon, Dong Young; Shin, Hyunjune; Kim, Hyun Bin; Lee, Jungwoo, E-mail: jwlee@kw.ac.kr [Department of Electronic Engineering, Kwangwoon University, Seoul (Korea, Republic of)

2015-05-04

We recently proposed an analytical model of a two-dimensional acoustic trapping of polystyrene beads in the ray acoustics regime, where a bead diameter is larger than the wavelength used. As its experimental validation, this paper demonstrates the transverse (or lateral) trapping of individual polystyrene beads in the near field of focused ultrasound. A 100 μm bead is immobilized on the central beam axis by a focused sound beam from a 30 MHz single element lithium niobate transducer, after being laterally displaced through hundreds of micrometers. Maximum displacement, a longest lateral distance at which a trapped bead can be directed towards the central axis, is thus measured over a discrete frequency range from 24 MHz to 36 MHz. The displacement data are found to be between 323.7 μm and 470.2 μm, depending on the transducer's driving frequency and input voltage amplitude. The experimental results are compared with their corresponding model values, and their relative errors lie between 0.9% and 3.9%. The results suggest that this remote maneuvering technique may be employed to manipulate individual cells through solid microbeads, provoking certain cellular reactions to localized mechanical disturbance without direct contact.

Rigid hoist articulated grapple system development for enhanced remote maintenance

International Nuclear Information System (INIS)

Witham, C.; White, P.; Garin, J.

1979-01-01

Remote maintenance and repair within nuclear environments have become more demanding of remote manipulation equipment in the last few years. A deficiency exists in the array of tools available for dexterous operations of loads in the 180-kg range. The development of a manipulation system with enhanced operator controls is discussed. This system is a six-degree-of-freedom manipulator with bilateral servo control. It is to be attached to a mobile support boom in order to operate throughout the nuclear cell. The manipulator is intended to work in conjunction with light duty servomanipulators, overhead crane systems, and through-the-wall mechanical master slaves

Reliability review of the remote tool delivery system locomotor

Energy Technology Data Exchange (ETDEWEB)

Chesser, J.B.

1999-04-01

The locomotor being built by RedZone Robotics is designed to serve as a remote tool delivery (RID) system for waste retrieval, tank cleaning, viewing, and inspection inside the high-level waste tanks 8D-1 and 8D-2 at West Valley Nuclear Services (WVNS). The RTD systm is to be deployed through a tank riser. The locomotor portion of the RTD system is designed to be inserted into the tank and is to be capable of moving around the tank by supporting itself and moving on the tank internal structural columns. The locomotor will serve as a mounting platform for a dexterous manipulator arm. The complete RTD system consists of the locomotor, dexterous manipulator arm, cameras, lights, cables, hoses, cable/hose management system, power supply, and operator control station.

Integrated digital control and man-machine interface for complex remote handing systems

International Nuclear Information System (INIS)

Rowe, J.C.; Spille, R.F.; Zimmermann, S.D.

1987-01-01

The Advanced Integrated Maintenance System (AIMS) is part of a continuing effort within the Consolidated Fuel Reprocessing Program at Oak Ridge National Laboratory to develop and extend the capabilities of remote manipulation and maintenance technology. The AIMS is a totally integrated approach to remote handling in hazardous environments. State-of-the-art computer systems connected through a high-speed distributed control system that supports the flexibility and expandability needed for large integrated maintenance applications. A man-Machine Interface provides high-level human interaction through a powerful color graphics menu-controlled operator console. An auxiliary control system handles the real-time processing needs for a variety of support hardware. A pair of dedicated fiber-optic-linked master/slave computer systems control the Advanced Servomanipulator master/slave arms using powerful distributed digital processing methods. The FORTH language was used as a real-time operating and development environment for the entire system, and all of these components are integrated into a control room concept that represents the latest advancements in the development of remote maintenance facilities for hazardous environments

Integrated digital control and man-machine interface for complex remote handling systems

International Nuclear Information System (INIS)

Rowe, J.C.; Spille, R.F.; Zimmermann, S.D.

1986-12-01

The Advanced Integrated Maintenance System (AIMS) is part of a continuing effort within the Consolidated Fuel Reprocessing Program at Oak Ridge National Laboratory to develop and extend the capabilities of remote manipulation and maintenance technology. The AIMS is a totally integrated approach to remote handling in hazardous environments. State-of-the-art computer systems connected through a high-speed communication network provide a real-time distributed control system that supports the flexibility and expandability needed for large integrated maintenance applications. A Man-Machine Interface provides high-level human interaction through a powerful color graphics menu-controlled operator console. An auxiliary control system handles the real-time processing needs for a variety of support hardware. A pair of dedicated fiber-optic-linked master/slave computer system control the Advanced Servomanipulator master/slave arms using powerful distributed digital processing methods. The FORTH language was used as a real-time operating and development environment for the entire system, and all of these components are integrated into a control room concept that represents the latest advancements in the development of remote maintenance facilities for hazardous environments

Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

Directory of Open Access Journals (Sweden)

R. Beira

2011-01-01

Full Text Available The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS, a compact and accurate positioning mechanism, named Dionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.

The Most Economical Mode of Power Supply for Remote and Less Developed Areas in China: Power Grid Extension or Micro-Grid?

Directory of Open Access Journals (Sweden)

Sen Guo

2017-05-01

Full Text Available There are still residents without access to electricity in some remote and less developed areas of China, which lead to low living standards and hinder sustainable development for these residents. In order to achieve the strategic targets of solving China’s energy poverty, realizing basic energy service equalization, and comprehensively building up a moderately prosperous society, several policies have been successively promulgated in recent years, which aim to solve the electricity access issue for residents living in remote and less developed areas. It is of great importance to determine the most economical mode of power supply in remote and less developed areas, which directly affects the economic efficiency of public investment projects. Therefore, this paper focuses on how to select the most economical power supply mode for rural electrification in China. Firstly, the primary modes to supply electricity for residents living in the remote and less developed areas are discussed, which include power grid extension mode and micro-grid mode. Secondly, based on the levelized cost of electricity (LCOE technique, the life cycle economic cost accounting model for different power supply modes are built. Finally, taking a minority nationality village in Yunnan province as an example, the empirical analysis is performed, and the LCOEs of various possible modes for rural electrification are accounted. The results show that the photovoltaic (PV-based independent micro-grid system is the most economical due to the minimum LCOE, namely 0.658 RMB/kWh. However, other power supply modes have much higher LCOEs. The LCOEs of power grid extension model, wind-based independent micro-grid system and biomass-based independent micro-grid system are 1.078 RMB/kWh, 0.704 RMB/kWh and 0.885 RMB/kWh, respectively. The proposed approach is effective and practical, which can provide reference for rural electrification in China.

Remote maintenance development

International Nuclear Information System (INIS)

Zook, C.R.

1979-01-01

The concept of remote maintenance as it pertains to nuclear fuel fabrication facilities is quite unique. The future may require completely remote facilities where maintenance will be performed by hybrid manipulators/robots. These units will be capable of being preprogrammed for automatic operation or manually operated with the operator becoming a part of the closed loop control system. These robots will mesh television, computer control, and direct force feedback manual control in a usable new concept of robotics

System for remote routine monitoring of power equipment at TPP and NPP

International Nuclear Information System (INIS)

Kantsedalov, V.G.; Samojlenko, V.P.; Doroshenko, V.A.

1988-01-01

A system for remote routine monitoring of TPP and NPP pipeline metals is described. The principal functional unit of the system is the unit of remote routine methods and techniques for studying and monitoring the metal and properties. The system is equipped with 5 types of routine monitoring equipment: robots, remote aggregated complexes, periodical diagnostic monitors, other means of metal diagnostics (endoscopes, introscopes). All current information enters the unit for estimating and forecasting the service life of power unit, where it is compared with the standard indices of reliability, duravility and efficiency. The system considered permits to reduce significantly or minimize the scope of works on metal monitoring during overhauls, increase intermonitoring and interrepairing compaigns to 8 years

Remote detection of radioactive material using high-power pulsed electromagnetic radiation.

Science.gov (United States)

Kim, Dongsung; Yu, Dongho; Sawant, Ashwini; Choe, Mun Seok; Lee, Ingeun; Kim, Sung Gug; Choi, EunMi

2017-05-09

Remote detection of radioactive materials is impossible when the measurement location is far from the radioactive source such that the leakage of high-energy photons or electrons from the source cannot be measured. Current technologies are less effective in this respect because they only allow the detection at distances to which the high-energy photons or electrons can reach the detector. Here we demonstrate an experimental method for remote detection of radioactive materials by inducing plasma breakdown with the high-power pulsed electromagnetic waves. Measurements of the plasma formation time and its dispersion lead to enhanced detection sensitivity compared to the theoretically predicted one based only on the plasma on and off phenomena. We show that lower power of the incident electromagnetic wave is sufficient for plasma breakdown in atmospheric-pressure air and the elimination of the statistical distribution is possible in the presence of radioactive material.

Dual-arm manipulation module for use in decontamination and decommissioning operations

International Nuclear Information System (INIS)

Hamel, W.R.; Haley, D.C.; Dixon, W.E.

1994-01-01

A dual-arm manipulation module is under development for application in decontamination and decommissioning (D ampersand D) tasks. The development is led by Oak Ridge National Laboratory with support from Sandia National Laboratories, and with university and industry participation. The project is part of the Robotics Technology Development Program funded by the US Department of Energy, Environmental Restoration and Waste Management, Office of Technology Development. The dual-arm module is designed to provide dexterous manipulation capability for remote characterization, decontamination, and dismantlement operations, and the module is reconfigurable to meet various deployment requirements. Remote manipulation capability can benefit D ampersand D activities through reduced worker exposure to both contaminant and industrial hazards. When tasks conditions permit, increased use of robotic features reduce costs by increased efficiency of operation

Evaluating photovoltaic/energy storage/diesel hybrid power systems for remote area power supplies in the Amazon region of Peru

International Nuclear Information System (INIS)

Hurwitch, J.W.; Danley, D.R.

1998-01-01

In June 1997, an international memorandum of understanding was signed between the Ministry of Energy and Mines (MEM) in Peru, the Solar Energy Industries Association (SEIA) and the International Lead Zinc Research Organization (ILZRO). This agreement seeks to evaluate the potential for remote area power supplies (RAPS) for electrification of rural villages in the Amazon region. This study, funded by ILZRO, was the first major activity conducted under the aegis of this agreement. The objective of this study was to conduct a preliminary engineering design and feasibility study to assess the potential for Remote Area Power Supplies (RAPS) in the Amazon Region of Peru. This paper presents the results of this preliminary engineering study. (author)

Study on temperature field airborne remote sensing survey along shore nuclear power station in different tide status

International Nuclear Information System (INIS)

Liang Chunli; Li Mingsong

2010-01-01

Nuclear Power Station needs to let large quantity of cooling water to the near sea area when it is running. Whether the cooling water has effect to surrounding environment and the running of Nuclear Power Station needs further research. Temperature Drainage Mathematic Model and Physical Analogue Model need to acquire the distribution characteristic of near Station sea surface temperature field in different seasons and different tide status. Airborne Remote Sending Technique has a advantage in gaining high resolution sea surface temperature in different tide status, and any other manual method with discrete point survey can not reach it. After a successful implementation of airborne remote sensing survey to gain the near-shore temperature drainage information in Qinshan Nuclear Power Station, it provides the reference methods and ideas for temperature drainage remote sensing survey of Nuclear Power Station. (authors)

Reconfigurable mobile manipulation for accident response

International Nuclear Information System (INIS)

Anderson, Robert J.; Morse, William D.; Shirey, David L.; Cdebaca, DanielL M.; Hoffman, John P. Jr.; Lucy, William E.

2000-01-01

The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS' mobility platform is a military HMMWV [High Mobility Multipurpose Wheeled Vehicle] that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture call SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS

Remote maintenance in nuclear fuel reprocessing

International Nuclear Information System (INIS)

Herndon, J.N.

1985-01-01

Remote maintenance techniques applied in large-scale nuclear fuel reprocessing plants are reviewed with particular attention to the three major maintenance philosophy groupings: contact, remote crane canyon, and remote/contact. Examples are given, and the relative success of each type is discussed. Probable future directions for large-scale reprocessing plant maintenance are described along with advanced manipulation systems for application in the plants. The remote maintenance development program within the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory is also described. 19 refs., 19 figs

Remote handling in nuclear fusion research

International Nuclear Information System (INIS)

Removille, J.

1989-01-01

When the Joint European Torus (JET) commences operation in 1992, the neutron flux will increase by 2 or 3 orders of magnitude activating the components of the machine to such an extent as to prohibit the access of personnel into the machine hall to carry out maintenance tasks. This paper lists operations which will have to be carried out remotely either because they are essential to the routine running of the machine or in emergencies. Remotely operated equipment which has been developed to perform these tasks is described. It is based on a system of conveyors which carry manipulators and tools to their point of operation. The principal conveyors are: a telescopic articulated mast carried on a bridge over the machine enabling tasks around and above the torus to be performed; conveyors running on rails which can reach otherwise inaccessible regions beneath the machine; an articulated arm which can position a manipulator within the torus; and a radio controlled support vehicle running on caterpillar tracks carrying a camera and tools for connecting cables to other conveyors. The main features of the control room from which the conveyors, manipulators, tools and cameras are remotely operated is also described. (UK)

Development of nuclear fuel cycle remote handling technology

International Nuclear Information System (INIS)

Kim, K. H.; Park, B. S.; Kim, S. H.

2012-04-01

This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are four areas conducted in this work. In first area, the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately, and an automatic equipment which is capable of collecting residual powder remaining on separated hulls were developed. In second area, a servo-manipulator system was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In third area, a digital mock-up and a remote handling evaluation mock-up were constructed to evaluate the pyroprocess equipments from the in-cell arrangements, remote operability and maintainability viewpoint before they are installed in the PRIDE. In last area, a base technology for remote automation of integrated pyroprocess was developed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be used for remote operation and maintenance of the pyroprocess equipments in the PRIDE. The constructed digital mock-up and remote handling evaluation mock-up will be also used to verify and improve the pyroprocess equipments for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the KAPF (Korea Advanced Pyroprocess Facility) development

Failure of a yoke body pin of a remote handling device

International Nuclear Information System (INIS)

Kasiviswanathan, K.V.; Muralidharan, N.G.; Raj, B.

1984-01-01

This note analyses the cause of failure observed in a yoke body pin of a remote handling device (Master Slave Manipulator) used for handling highly radioactive materials, remotely in shielded enclosures. The yoke body constitutes an important part of the manipulator wrist assembly and was made out of AISI 420 grade steel as a single piece investment casting. (orig./IHOE) [de

Detection of the power lines in UAV remote sensed images using spectral-spatial methods.

Science.gov (United States)

Bhola, Rishav; Krishna, Nandigam Hari; Ramesh, K N; Senthilnath, J; Anand, Gautham

2018-01-15

In this paper, detection of the power lines on images acquired by Unmanned Aerial Vehicle (UAV) based remote sensing is carried out using spectral-spatial methods. Spectral clustering was performed using Kmeans and Expectation Maximization (EM) algorithm to classify the pixels into the power lines and non-power lines. The spectral clustering methods used in this study are parametric in nature, to automate the number of clusters Davies-Bouldin index (DBI) is used. The UAV remote sensed image is clustered into the number of clusters determined by DBI. The k clustered image is merged into 2 clusters (power lines and non-power lines). Further, spatial segmentation was performed using morphological and geometric operations, to eliminate the non-power line regions. In this study, UAV images acquired at different altitudes and angles were analyzed to validate the robustness of the proposed method. It was observed that the EM with spatial segmentation (EM-Seg) performed better than the Kmeans with spatial segmentation (Kmeans-Seg) on most of the UAV images. Copyright © 2017 Elsevier Ltd. All rights reserved.

Aspects of remote maintenance in an FRG reprocessing plant from the manufacturer's viewpoint

International Nuclear Information System (INIS)

Zeitzchel, G.; Tennie, M.; Saal, G.

1986-01-01

In April 1986 a consortium led by Kraftwerk Union AG was commissioned by the German society for nuclear fuel reprocessing (DWK) to build the first West German commercial reprocessing plant for spent fuel assemblies. The main result of the planning efforts regarding remote maintenance operations inside the main process building was the introduction of FEMO technology (FEMO is an acronym based on German for remote handling modular technique). According to this technology the two cells in which the actual reprocessing (which is based on the PUREX technique) takes place are provided with frames to accommodate the process components (tanks, pumps, agitators, etc.), each frame together with the components which it supports forming one module. The two cells are inaccessible and windowless. For handling operations each cell is equipped with an overhead crane and a crane-like manipulator carrier system (MTS) with power manipulator. Viewing of the operations from outside the cells is made possible by television (TV) cameras installed at the crane, the MTS, and the manipulator. This paper addresses some examples of problems that still need to be solved in connection with FEMO handling. In particular, the need for close cooperation between the equipment operator, the component designer, the process engineer, the planning engineer, and the licensing authorities will be demonstrated

Analysis of operational possibilities and conditions of remote handling systems in nuclear facilities

International Nuclear Information System (INIS)

Hourfar, D.

1989-01-01

Accepting the development of the occupational radiation exposure in nuclear facilities, it will be showing possibilities of cost effective reduction of the dose rate through the application of robots and manipulators for the maintenance of nuclear power plants, fuel reprocessing plants, decommissioning and dismantling of the mentioned plants. Based on the experiences about industrial robot applications by manufacturing and manipulator applications by the handling of radioactive materials as well as analysis of the handling procedures and estimation of the dose intensity, it will be defining task-orientated requirements for the conceptual design of the remote handling systems. Furthermore the manifold applications of stationary and mobil arranged handling systems in temporary or permanent operation are described. (orig.) [de

Remote-automated inspection and maintenance of nuclear power plant equipment

Energy Technology Data Exchange (ETDEWEB)

Sasaki, Masayoshi; Nakano, Yoshiyuki

1984-12-01

Employing remote-control inspection and maintenance equipment in nuclear power plants increases the plant availability by decreasing the annual shutdown time (outage), as well as radiation exposure and man-power. This paper presents an outline of the latest designs for an automatic refueling machine, a control rod drive handling machine, a fuel preparation machine, and a main steam line plug, which were supplied to the Fukushima Dai-Ni No. 2 Plant of the Tokyo Electric Power Co., Inc. (Fukushima 2-2). Also, the up-to-date developments of other new automatic machines, such as a CRD disassembly and cleaning system, spent fuel channel box volume reduction equipment, and robotics for nuclear plant use are presented.

Control system design concepts for improving bilateral characteristics of master-slave manipulators

International Nuclear Information System (INIS)

Hewitt, J.E.; Siva, K.V.

1986-01-01

The paper concerns control system design concepts for improving bilateral characteristics of master-slave manipulators. In particular, the article concentrates on the identification of the remote manipulative process itself from studying direct manipulation with hand tools. Bilateral servo loop systems in operator controlled manipular systems are discussed, as well as Bond Graph modelling techniques. The performance of different kinds of bilateral servos are compared. (U.K.)

The main pump motor remote visual check in the application of the domestic nuclear power plants

International Nuclear Information System (INIS)

Ge Lianwei; Yu Tao; Fang Jiang; Zhang Ting; Zhang Xingtian; Ding Youyuan

2014-01-01

In this paper, the Qinshan nuclear power station the first main pump motor to the successful implementation of remote visual inspection the main pump motor remote visual inspection applications. Qinshan Nuclear Power Plant Units 1 and 2 of the main pump motor inspection results show that the key components of the Qinshan Nuclear Power Plant Units 1 and 2 of the main pump rotor, stator end coils good condition, its problems for 10 years in the motor does not affect the normal use of the motor state disintegration overhaul problems tracking disintegration overhaul in 10 years. (authors)

Boiler inspection manipulator for Torness Power Station

International Nuclear Information System (INIS)

Carrey, R.T.A.; Playle, M.J.

1996-01-01

In-service inspection at Torness Advanced Gas-cooled Reactor is achieved, via penetrations above and below the core area and boilers and through eight circulator penetrations for inspection of the sub-diagrid area. A manipulator is described which can access the area above the reactor core via any of these eight peripheral penetrations. The design and fabrication of the manipulator has led to innovation with a number of possible solutions being tendered. In reactor deployment of the successful design is expected in early 1997. (UK)

Remote handling of decentralized power generation plants; Fernwirken von dezentralen Energieerzeugungsanlagen

Energy Technology Data Exchange (ETDEWEB)

Conrad, Michael [IDS GmbH, Ettlingen (Germany). Geschaeftsbereich Entwicklung-Prozessautomatisierung; Thomas, Ralf [IDS GmbH, Ettlingen (Germany). Bereich Business Development und Marketing

2011-05-15

The incresing number of decentral power generation systems requires new grid solutions, i.e. the so-called smart grids. One important function is the monitoring and control, e.g. of decentral PV, wind power and cogeneration systems. The data interfaces used are highly diverse and as a rule are taken from measuring and automation technology, i.e. they must be adapted to the data models and transmission procedures of remote control and guidance systems. A compact protocol gateway enables standardized control and diagnosis.

Remote equipment technology. Final report for GFY 1880

International Nuclear Information System (INIS)

Wadekamper, D.C.

1980-09-01

An interactive graphics terminal and a desk-top computer were utilized to perform a Computer Aided Remote Maintenance simulation of a hypothetical equipment item. The equipment item included an electrical connection, hydraulic fitting, and simple bolt pattern which were maintained by remote manipulators during the simulation. These remote maintenance operations demonstrated that the Computer Aided Remote Maintenance simulation technology could be extended to complex equipment items. As a result, these equipment items can be evaluated from the standpoint of remote operation and maintenance prior to purchase or installation in a remote processing or cell arrangement

Solar electric power for instruments at remote sites

Science.gov (United States)

McChesney, P.J.

2000-01-01

Small photovoltaic (PV) systems are the preferred method to power instruments operating at permanent locations away from the electric power grid. The low-power PV power system consists of a solar panel or small array of panels, lead-acid batteries, and a charge controller. Even though the small PV power system is simple, the job of supplying power at a remote site can be very demanding. The equipment is often exposed to harsh conditions. The site may be inaccessible part of the year or difficult and expensive to reach at any time. Yet the system must provide uninterrupted power with minimum maintenance at low cost. This requires good design. Successful small PV systems often require modifications by a knowledgeable fieldworker to adapt to conditions at the site. Much information is available in many places about solar panels, lead-acid batteries, and charging systems but very little of it applies directly to low power instrument sites. The discussion here aims to close some of the gap. Each of the major components is described in terms of this application with particular attention paid to batteries. Site problems are investigated. Finally, maintenance and test procedures are given. This document assumes that the reader is engaged in planning or maintaining low-power PV sites and has basic electrical and electronic knowledge. The area covered by the discussion is broad. To help the reader with the many terms and acronyms used, they are shown in bold when first used and a glossary is provided at the end of the paper.

A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

International Nuclear Information System (INIS)

Soares, João; Vale, Alberto; Ventura, Rodrigo

2015-01-01

Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

A Multi-purpose Rescue Vehicle and a human–robot interface architecture for remote assistance in ITER

Energy Technology Data Exchange (ETDEWEB)

Soares, João [Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Vale, Alberto, E-mail: avale@ipfn.tecnico.ulisboa.pt [Instituto de Plasmas e Fusão Nuclear, Instituto SuperiorTécnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal); Ventura, Rodrigo, E-mail: rodrigo.ventura@isr.tecnico.ulisboa.pt [Laboratório de Robótica e Sistemas em Engenharia eCiência, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisboa (Portugal)

2015-10-15

Highlights: • Design of an omnidirectional vehicle equipped with cameras and laser range finders. • Two robotic manipulators that slide over the vehicle's body to perform independent tasks. • Architecture to connect the control system, communication, power, navigation and HMI. • An immersive interface HMI with augmented reality features with head mounted display. - Abstract: The remote handling (RH) plays an important role in nuclear test facilities, such as in ITER, for in-vessel and ex-vessel maintenance operations. Unexpected situations may occur when RH devices fail. Since no human being is allowed during the RH operations, a Multi-purpose Rescue Vehicle (MPRV) must be required for providing support in site. This paper proposes a design of a MPRV, i.e., a mobile platform equipped with different sensors and two manipulators with different sets of end-effectors. A human–machine interface is also proposed to remotely operate the MPRV and to carry out rescue and recovery operations.

Inductively powered wireless pacing via a miniature pacemaker and remote stimulation control system.

Science.gov (United States)

Abiri, Parinaz; Abiri, Ahmad; Packard, René R Sevag; Ding, Yichen; Yousefi, Alireza; Ma, Jianguo; Bersohn, Malcolm; Nguyen, Kim-Lien; Markovic, Dejan; Moloudi, Shervin; Hsiai, Tzung K

2017-07-21

Pacemakers have existed for decades as a means to restore cardiac electrical rhythms. However, lead-related complications have remained a clinical challenge. While market-released leadless devices have addressed some of the issues, their pacer-integrated batteries cause new health risks and functional limitations. Inductive power transfer enables wireless powering of bioelectronic devices; however, Specific Absorption Rate and size limitations reduce power efficiency for biomedical applications. We designed a remote-controlled system in which power requirements were significantly reduced via intermittent power transfer to control stimulation intervals. In parallel, the cardiac component was miniaturized to facilitate intravascular deployment into the anterior cardiac vein. Given size constraints, efficiency was optimal via a circular receiver coil wrapped into a half-cylinder with a meandering tail. The pacemaker was epicardially tested in a euthanized pig at 60 beats per minute, 2 V amplitude, and 1 ms pulse width, restoring mean arterial pressure from 0 to 37 mmHg. Power consumption was 1 mW at a range of > 3 cm with no misalignment and at 2 cm with 45° displacement misalignment, 45° x-axis angular misalignment, or 45° y-axis angular misalignment. Thus, we demonstrated a remote-controlled miniaturized pacing system with low power consumption, thereby providing a basis for the next generation of wireless implantable devices.

Reactor units for power supply of remote and inaccessible regions: Selection issue

Directory of Open Access Journals (Sweden)

Melnikov N.N.

2015-06-01

Full Text Available The paper briefly presents the problem aspects on power supply for the remote and inaccessible regions of Russia. Reactor units of different type and installed electric capacity have been considered in relation to the issue of power supply during mineral deposit development in the Chukotka autonomous region, Yakutia and Irkutsk region. Some preliminary assessment of the possible options for use of small nuclear power plants in various sectors of energy consumption have been carried out based on the analysis of different scenarios for economic development of the regions considered

Hydraulic manipulator

International Nuclear Information System (INIS)

Sinha, A.K.; Srikrishnamurty, G.

1990-01-01

Successful operation of nuclear plant is largely dependent on safe handling of radio-active material. In order to reduce this handling problem and minimise the exposure of radiation, various handling equipment and manipulators have been developed according to the requirements. Manufacture of nuclear fuel, which is the most important part of the nuclear industry, involves handling of uranium ingots weighing approximately 250 kg. This paper describes a specially designed hydraulic manipulator for handling of the ingots in a limited space. It was designed to grab and handle the ingots in any position. This has following drive motions: (1)gripping and releasing, (2)lifting and lowering (z-motion), (3)rotation about the horizontal axis (azimuth drive), (4)rotation about the job axis, and (5)rotation about the vertical axis. For horizontal motion (X and Y axis motion) this equipment is mounted on a motorised trolley, so that it can move inside the workshop. For all drives except the rotation about the job axis, hydraulic cylinders have been used with a battery operated power pack. Trolley drive is also given power from same battery. This paper describes the design aspects of this manipulator. (author). 4 figs

Electromechanical manipulator for the Hot-Cell Verification Facility

International Nuclear Information System (INIS)

Frandsen, G.B.; Brownstein, M.

1982-01-01

An electromechanical manipulator was deSigned and built to perform prototypic prequalification testing of FMEF equipment in the HCVF. Significant performance improvements were achieved; for example, 1360 kg (3000 lb) hoist capability and a 180 kg (400 lb) tool capacity anywhere within the manipulator reach and moving at full speed. New remote maintenance features were incorporated in the design including the ability to remove all active components on the bridge, which precludes the need to remove the bridge structure. 8 figures

Operating experience with remote handling equipment in a typical hot facility

International Nuclear Information System (INIS)

Ravishankar, A.; Balasubramanian, G.R.

1990-01-01

Large number of articulated arm manipulators and special purpose remote tools have been used either alone or in combination in a recent campaign of treatment of irradiated J rods of CIRUS for separation of 233 U. These equipments were used for operations such as remote maintenance of centrifuge, centrifugal extractor, direct sampling, assistance for sample conveying operations etc. Paper discusses problems encountered in using articulated arm manipulators of type MAll,AMl and how they were overcome. Problems encountered in use of model-8 manipulator for chopper maintenence in a mockup facility are also highlighted. (author). 4 figs., 1 tab

The remote exchange of the JET divertor

International Nuclear Information System (INIS)

Pick, M.

1999-01-01

In 1997 a series of experiments were performed in the JET machine using deuterium-tritium (D-T) mixtures and resulting in discharges with record breaking fusion power and fusion energy. The experiments demonstrated a key technology required for fusion, namely the on-line operation of a tritium fuel re-processing plant. These experiments left the inside of the JET vessel inaccessible to manned access for approximately one year. During this time, the complete Mark IIA divertor, a major system within the torus, was successfully removed and replaced with a new divertor design, the Mark II Gas Box divertor, using only remote handling techniques. This was the first application of the JET remote handling system and a demonstration of a further key ITER technology. The paper explains the methodology and operational approach taken to achieve the results using the remote handling system developed at JET. It describes the remote handling equipment including the force-reflecting servo-manipulator, the specialised tools designed, the facilities needed, and the trials, planning and training carried out to ensure the safe, reliable and rapid completion of the remote handling tasks. The planned tasks are outlined including the execution of the novel procedure for a remote, sub-millimetre precision, dimensional survey of the divertor support structure using digital photogrammetry. Furthermore the paper shows how the adaptability of the system was used to successfully undertake a large number of unplanned tasks including the removal of damaged tiles, a damaged diagnostic system and the vacuum cleaning of diagnostic windows. (author)

A simple, robust and reliable wind diesel concept for remote power supply

DEFF Research Database (Denmark)

Lundsager, P.; Bindner, H.

1994-01-01

The paper introduces a Wind Diesel concept suitable for remote communities, the 'Simple, Robust and Reliable Concept' developed at Riso. All components are standard components, the system is self regulating using the component controllers and there is no power electronics. The paper documents...

Photonic Crystals: Two-Dimensional Programmable Manipulation of Magnetic Nanoparticles on-Chip (Adv. Mater. 15/2014)

DEFF Research Database (Denmark)

Sarella, Anandakumar; Torti, Andrea; Donolato, Marco

2014-01-01

P. Vavassori and co-workers demonstrate on page 2384 that field-controlled displacement of magnetic domain walls in ferromagnetic nano-ring structures allows for capture and 2-dimensional remote manipulation of fluidborne magnetic nanoparticles over a chip surface.......P. Vavassori and co-workers demonstrate on page 2384 that field-controlled displacement of magnetic domain walls in ferromagnetic nano-ring structures allows for capture and 2-dimensional remote manipulation of fluidborne magnetic nanoparticles over a chip surface....

Overhead remote handling systems for the process facility modifications project

International Nuclear Information System (INIS)

Wiesener, R.W.; Grover, D.L.

1987-01-01

Each of the cells in the process facility modifications (PFM) project complex is provided with a variety of general purpose remote handling equipment including bridge cranes, monorail hoist, bridge-mounted electromechanical manipulator (EMM) and an overhead robot used for high efficiency particulate air (HEPA) filter changeout. This equipment supplements master-slave manipulators (MSMs) located throughout the complex to provide an overall remote handling system capability. The overhead handling equipment is used for fuel and waste material handling operations throughout the process cells. The system also provides the capability for remote replacement of all in-cell process equipment which may fail or be replaced for upgrading during the lifetime of the facility

Vehicle-manipulator systems modeling for simulation, analysis, and control

CERN Document Server

From, Pal Johan; Pettersen, Kristin Ytterstad

2014-01-01

Furthering the aim of reducing human exposure to hazardous environments, this monograph presents a detailed study of the modeling and control of vehicle-manipulator systems. The text shows how complex interactions can be performed at remote locations using systems that combine the manipulability of robotic manipulators with the ability of mobile robots to locomote over large areas.  The first part studies the kinematics and dynamics of rigid bodies and standard robotic manipulators and can be used as an introduction to robotics focussing on robust mathematical modeling. The monograph then moves on to study vehicle-manipulator systems in great detail with emphasis on combining two different configuration spaces in a mathematically sound way. Robustness of these systems is extremely important and Modeling and Control of Vehicle-manipulator Systems effectively represents the dynamic equations using a mathematically robust framework. Several tools from Lie theory and differential geometry are used to obtain glob...

Remote sensing for nuclear power plant siting

International Nuclear Information System (INIS)

Siegal, B.S.; Welby, C.W.

1981-01-01

It is shown that satellite remote sensing provides timely and cost-effective information for siting and site evaluation of nuclear power plants. Side-looking airborne radar (SLAR) imagery is especially valuable in regions of prolonged cloud cover and haze, and provides additional assurance in siting and licensing. In addition, a wide range of enhancement techniques should be employed and different types of image should be color-combined to provide structural and lithologic information. Coastal water circulation can also be studied through repetitive coverage and the inherently synoptic nature of imaging satellites. Among the issues discussed are snow cover, sun angle, and cloud cover, and actual site evaluation studies in the Bataan peninsula of the Philippines and Laguna Verde, California

Rosie: remote work system for decontamination and dismantlement

International Nuclear Information System (INIS)

Bares, L.C.; Conley, L.S.; Thompson, B.R.

1996-01-01

The Rosie worksystem includes a locomotor, heavy manipulator,operator console, and control system for remote operations. The locomotor is a highly mobile platform with tether management and hydraulic power onboard. The heavy manipulator is a high-payload, long-reach boom used to deploy a wide variety of tools and/or sensors into the work area. Rosie's advanced control system, broad work capabibilites, and hardening/reliability for hazardous duty make it a new and unique capability that facilitates completion of significant cleanup projects throughout DOE and the private sector. Endurance testing of Rosie during last year has proven its capabilities and appropriateness for D ampersand D applications. Design enhancements are being implemented to improve and add features necessary for deployment at an upcoming DOE facility decommissioning. A second Rosie unit is being fabricated fro use in the decommissioning of ANL's CP-5 reactor facility starting late 1996. This paper overviews the Rosie system, testing results, design enhancements, and plans for use of this technology at CP-5

Ex-vessel remote maintenance design for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Spampinato, P.T.; Macdonald, D.

1987-01-01

The use of deuterium-tritium (D-T) fuel for operation of the Compact Ignition Tokamak (CIT) imposes a requirement for remote handling technology to carry out maintenance operations on auxiliary machine components. These operations consist of removing and repairing components such as diagnostics and radio frequency (rf) heating modules using remotely operated maintenance equipment. The major equipment that is being developed to accomplish maintenance external to the plasma chamber includes the bridge-mounted manipulator system for test cell operations, decontamination (decon) equipment, hot cell equipment, and solid rad-waste handling equipment. Wherever possible, the project will use commercially available equipment. Several areas of the maintenance system design have been addressed in fiscal year (FY) 1987. These included conceptual designs of manipulator systems, the start of a remote equipment research and development (R and D) program, and definition of the hot cell, decon, and equipment repair facility requirements. The manipulator work included investigating transporters and viewing/lighting subsystems. In each case, existing commercial units are being assessed initially, along with viable alternative approaches. R and D work also included demonstrations of remote handling operations on full-size, partial mock-ups of the CIT machine at the Oak Ridge National Laboratory (ORNL) Remote Operations and Maintenance Development Facility

Remote tooling applications at the FFTF/IEM cell

International Nuclear Information System (INIS)

Webb, R.H.

1990-01-01

At the fast flux test facility, a US Government-owned 400-MW(thermal) sodium-cooled fast reactor, the interim examination and maintenance (IEM) cell is used for the remote disassembly of irradiated fuel and material experiments and remote maintenance operations. The IEM cell has been a challenging area both for maintenance and operation of remote equipment. Innovative tooling has been required to provide the reliability, strength and dexterity for performing myriad bolting, cutting, gripping, and other such functions. Over the years, a set of basic components that can be modified and adapted to several applications has been developed. These include torque multipliers, torque limiters, right-angle drives, and many common hand tools with fittings designed to be handled by master-slave manipulators (MSM) or electromechanical manipulator (EMM) hands. An example of such a system is the closed loop ex-vessel machine (CLEM) grapple change tool, which is designed for both hands-on use in a glove box and remote use in the IEM cell

Remote mixed oxide fabrication facility development. Volume 2. State-of-the-art review of remote maintenance system technology

International Nuclear Information System (INIS)

Horgos, R.M.; Masch, M.L.

1979-06-01

This report provides a state-of-the-art review of remote systems technology, which includes manipulators, process connectors, vision systems and specialized process systems. A proposed mixed oxide fuel fabrication facility was reviewed and evaluated for identification of major remote maintenance and repair tasks. The technological areas were evaluated on the basis of their suitability or applicability for remote maintenance and repair of a proposed fully remote operating mixed oxide fuel fabrication facility. A technological base exists from which the design criteria for a reliable, remote operating facility can be established. Commercially available systems and components, along with those remote technologies now in development, will require modifications to adapt them to specific plant designs and requirements

Application and performance of remote bioventing systems powered by wind

International Nuclear Information System (INIS)

Graves, D.; Hague, K.; Wilson, B.; Dillon, T. Jr.; Klein, J.; McLaughlin, J.; Olson, G.

1995-01-01

Wind-powered bioventing systems were designed to operate at remote locations in the absence of electrical power. Laboratory measurements of soil respiration under bioventing conditions indicated the biodegradation of up to 25 mg of weathered diesel per kg of site soil per day. Further testing demonstrated the potential for harnessing wind-power to stimulate air movement through vadose zone soil. A 12-in. attic turbine in a 10-mph wind was found to generate 0.025 in. of water vacuum with an airflow of approximately 2.5 ft 3 per min. Two wind-powered bioventing systems were installed near Nome, Alaska. In situ respiration tests and soil gas composition measurements indicated that the systems were capable of aerating the soil. Measurements of diesel-range organics (DRO) taken during installation and at the end of the treatment season show concentration reductions of 29 and 87% at the two sites

Modeling and simulation of stand-alone hybrid power system with fuzzy MPPT for remote load application

Directory of Open Access Journals (Sweden)

Bogaraj T.

2015-09-01

Full Text Available Many parts of remote locations in the world are not electrified even in this Advanced Technology Era. To provide electricity in such remote places renewable hybrid energy systems are very much suitable. In this paper PV/Wind/Battery Hybrid Power System (HPS is considered to provide an economical and sustainable power to a remote load. HPS can supply the maximum power to the load at a particular operating point which is generally called as Maximum Power Point (MPP. Fuzzy Logic based MPPT (FLMPPT control method has been implemented for both Solar and Wind Power Systems. FLMPPT control technique is implemented to generate the optimal reference voltage for the first stage of DC-DC Boost converter in both the PV and Wind energy system. The HPS is tested with variable solar irradiation, temperature, and wind speed. The FLMPPT method is compared with P&O MPPT method. The proposed method provides a good maximum power operation of the hybrid system at all operating conditions. In order to combine both sources, the DC bus voltage is made constant by employing PI Controllers for the second stage of DC-DC Buck-Boost converter in both Solar and Wind Power Systems. Battery Bank is used to store excess power from Renewable Energy Sources (RES and to provide continuous power to load when the RES power is less than load power. A SPWM inverter is designed to convert DC power into AC to supply three phase load. An LC filter is also used at the output of inverter to get sinusoidal current from the PWM inverter. The entire system was modeled and simulated in Matlab/Simulink Environment. The results presented show the validation of the HPS design.

Remote through-wall sampling of the Trawsfynydd reactor pressure vessel: an overview

International Nuclear Information System (INIS)

Curry, A.; Clayton, R.

1996-01-01

This paper summarises the application of robotic equipment for gaining access to and removing through-wall samples from welds of the reactor pressure vessel at Trawsfynydd power station. The environment, which presents hazards due to ionising radiation, radioactive contamination and asbestos bearing materials is described. The means of access, by use of remote vehicles complete with robotic manipulators supported by additional vehicles, is reviewed. The use of Abrasive Water Jet Cutting for sample removal is introduced. The relative advantages and disadvantages of this technique are discussed. (Author)

Remote controlled in-pipe manipulators for dye-penetrant inspection and grinding of weld roots inside of pipes

International Nuclear Information System (INIS)

Seeberger, E.K.

2000-01-01

Technical plants which have to satisfy stringent safety criteria must be continuously kept in line with the state of art. This applies in particular to nuclear power plants. The quality of piping in nuclear power plants has been improved quite considerably in recent years. By virtue of the very high quality requirements fulfilled in the manufacture of medium-carrying and pressure-retaining piping, one of the focal aspects of in-service inspections is the medium wetted inside of the piping. A remote controlled pipe crawler has been developed to allow to perform dye penetrant testing of weld roots inside piping (ID ≥ 150 mm). The light crawler has been designed such that it can be inserted into the piping via valves (gate valves, check valves,...) with their internals removed. Once in the piping, all crawler movements are remotely controlled (horizontal and vertical pipes incl. the elbows). If indications are found these discontinuities are ground according to a qualified procedure using a special grinding head attached to the crawler with complete extraction of all grinding residues. The in-pipe grinding is a special qualified three (3) step performance that ensures no residual tensile stress (less than 50 N/mm 2 ) in the finish machined austenitic material surface. The in-pipe inspection system, qualified according to both the specifications of the German Nuclear Safety Standards Commission (KTA) and the American Society of Mechanical Engineers (ASME), has already been used successfully in nuclear power plants on many occasions. (author)

System Integration for Real-Time Mobile Manipulation

Directory of Open Access Journals (Sweden)

Reza Oftadeh

2014-03-01

Full Text Available Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator's mechanical structure and electrical interfaces, designs low-level software architecture based on embedded PC-based controls, and proposes a systematic solution based on code generation products of MATLAB and Simulink. The remote development environment described here is used to develop real-time controller software and modules for the mobile manipulator under a POSIX-compliant, real-time Linux operating system. Our approach enables developers to reliably design controller modules that meet the hard real-time constraints of the entire low-level system architecture. Moreover, it provides a systematic framework for the development and integration of hardware devices with various communication mediums and protocols, which facilitates the development and integration process of the software controller.

A wireless acoustic emission sensor remotely powered by light

International Nuclear Information System (INIS)

Zahedi, F; Huang, H

2014-01-01

In this paper, wireless sensing of acoustic emission (AE) signals using a battery-free sensor node remotely powered by light is presented. The wireless sensor consists of a piezoelectric wafer active sensor (PWAS) for AE signal acquisition and a wireless transponder that performs signal conditioning, frequency conversion, and wireless transmission. For signal conditioning, a voltage follower that consumes less than 2 mW was introduced to buffer the high impedance of the PWAS from the low impedance of the wireless transponder. A photocell-based energy harvester with a stable voltage output was developed to power the voltage follower so that the wireless AE sensor can operate without an external power source. The principle of operation of the battery-free wireless AE sensor node and the sensor interrogation system is described, followed by a detailed description of the hardware implementation. The voltage follower and the wireless channel were characterized by ultrasound pitch–catch and pencil lead break experiments. (paper)

Development of nuclear fuel cycle remote handling technology

International Nuclear Information System (INIS)

Kim, K. H.; Park, B. S.; Kim, S. H.

2010-04-01

This report presents the development of remote handling systems and remote equipment for use in the pyprocessing verification at the PRIDE (PyRoprocess Integrated inactive Demonstration facility). There are three areas conducted in this work. In first area, developed were the prototypes of an engineering-scale high-throughput decladding voloxidizer which is capable of separating spent fuel rod-cuts into hulls and powder and collecting them separately and an automatic equipment which is capable of collecting residual powder remaining on separated hulls. In second area, a servo-manipulator prototype was developed to operate and maintain pyroprocess equipment located at the argon cell of the PRIDE in a remote manner. A servo-manipulator with dual arm that is mounted on the lower part of a bridge transporter will be installed on the ceiling of the in-cell and can travel the length of the ceiling. In last area, a simulator was developed to simulate and evaluate the design developments of the pyroprocess equipment from the in-cell arrangements, remote operability and maintainability viewpoint in a virtual process environment in advance before they are constructed. The developed decladding voloxidizer and automatic equipment will be utilized in the development of a head-end process for pyroprocessing. In addition, the developed servo-manipulator will be installed in the PRIDE and used for remote operation and maintenance of the pyroprocess equipment. The developed simulator will be also used to verify and improve the design of the pyroprocess equipment for the PRIDE application. Moreover, these remote technologies described above can be directly used in the PRIDE and applied for the ESPF (Engineering Scale Pyroprocess Facility) and KAPF (Korea Advanced Pyroprocess Facility) development

Modelling a reliable wind/PV/storage power system for remote radio base station sites without utility power

Energy Technology Data Exchange (ETDEWEB)

Bitterlin, Ian F [Emerson Network Power Ltd., Globe Park, Marlow, SL7 1YG (United Kingdom)

2006-11-22

The development of photovoltaic (PV) cells has made steady progress from the early days, when only the USA space program could afford to deploy them, to now, seeing them applied to roadside applications even in our Northern European climes. The manufacturing cost per watt has fallen and the daylight-to-power conversion efficiency increased. At the same time, the perception that the sun has to be directly shining on it for a PV array to work has faded. On some of those roadside applications, particularly for remote emergency telephones or for temporary roadwork signage where a utility electrical power connection is not practical, the keen observer will spot, usually in addition to a PV array, a small wind-turbine and an electrical cabinet quite obviously (by virtue of its volume) containing a storage battery. In the UK, we have the lions share (>40%) of Europe's entire wind power resource although, despite press coverage of the 'anti-wind' lobby to the contrary, we have hardly started to harvest this clean and free energy source. Taking this (established and proven) roadside solution one step further, we will consider higher power applications. A cellular phone system is one where a multitude of remote radio base stations (RBS) are required to provide geographical coverage. With networks developing into the so called '3G' technologies the need for base stations has tripled, as each 3G cell covers only 1/3 the geographical area of its '2G' counterpart. To cover >90% of the UK's topology (>97% population coverage) with 3G cellular technology will requires in excess of 12,000 radio base stations per operator network. In 2001, there were around 25,000 established sites and, with an anticipated degree of collocation by necessity, that figure is forecast to rise to >47,000. Of course, the vast majority of these sites have a convenient grid connection. However, it is easy to see that the combination of wind and PV power generation and an energy storage system may be an

Development the interface system of master-slave manipulator and external input device on the graphic simulator

International Nuclear Information System (INIS)

Song, T. J.; Lee, J. Y.; Kim, S. H.; Yoon, J. S.

2002-01-01

The master-slave manipulator is the generally used as remote handling device in the hot cell, in which the high level radioactive materials such as spent fuels are handled. To analyze the motion of remote handling device and to simulate the remote handling operation task in the hot cell, the 3D graphic simulator which has been installed the master-slave manipulator is established. Also the interface program of external input device with 6 DOF(degree of Freedom) is developed and connected to graphic simulator with LLTI(Low Level Tele-operation Interface) which provides a uniquely optimized, high speed, bidirectional communication interface to one or more of system and processes

Remote tooling for inspection and repair in Pickering NGS-A calandria vault

International Nuclear Information System (INIS)

Hadji-Mirzai, M.; Tokarz, A.; Vandenberg, J.P.

1993-01-01

In recent years it has been necessary to develop capabilities for the inspection and repair of carbon steel components located within calandria vaults at Ontario Hydro's Pickering Nuclear Generating Station 'A'. Concerns about corrosion of piping and some of the structural components have made necessary the development of remote manipulators to inspect and repair carbon steel components within the vaults to ensure continued reliable operation of the units. Remote manipulators for this program have been designed to perform a number of inspection and repair tasks, and several versions have been developed to specialise in detailed inspection techniques and precision tooling module manipulation. (author)

Master-slave type manipulator

International Nuclear Information System (INIS)

Haaker, L.W.; Jelatis, D.G.

1979-01-01

Remote control manipulator of the master-slave type for carrying out work on the other side of a shield wall. This appliance allows a Y movement relative displacement, the function of which is to extend the range of the manipulator towards the front and also to facilitate its installation, the lateral rotation or inclination of the slave arm in relation to the master arm, and the Z movement extension through which the length of the slave arm is increased in comparison with that of the master arm. Devices have been developed which transform the linear movements into rotational movements to enable these movements to be transmitted through rotational seal fittings capable of ensuring the safety of the separation between the operator's environment and that in the work area. Particular improvements have been made to the handles, handle seals, pincer mechanisms, etc [fr

ENIQ-qualified visual examinations by means of a remote controlled submarine

Energy Technology Data Exchange (ETDEWEB)

Tsvetkov, Elenko; Heinsius, Jan [AREVA GmbH, Erlangen (Germany)

2015-07-15

Remote visual examination is one of the most important methods for non- destructive in-service inspections of primary components in nuclear power plants. It features two main advantages: the short examination duration and the fast interpretation of results. AREVA offers operators of nuclear power plants the ''SUSI 420 HD'' SUbmarine System for Inspections to perform ENIQ-qualified visual examinations during outages without working on the critical path and causing any delay in the time schedule. The system is a remotely operated manipulator equipped with a high definition camera. With a weight of only 25 kg, there is no need for a crane to put the submarine into water. More-over, nor the use of the refueling machine neither the auxiliary bridge is required. In this way the visual examination can be performed in parallel to other activities which are on the critical path. The article takes a closer look at the essential parameters: illumination, examination distance, viewing angle, scanning speed, positioning accuracy and sizing of indications. It describes how the system can fulfill these parameters through some adaptations.

Ex-vessel remote maintenance for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Spampinato, P.T.; Macdonald, D.

1987-01-01

The use of deuterium-tritium (D-T) fuel for operation of the Compact Ignition Tokamak (CIT) requires the use of remote handling technology to carry out maintenance operations on the machine. These operations consist in removing and repairing such components as diagnostic modules by using remotely operated maintenance equipment. The major equipment being developed for maintenance external to the plasma chamber includes a bridge-mounted manipulator system for test cell operations, decontamination (decon) equipment, hot cell equipment, and solid-radiation-waste-handling equipment. Wherever possible, the project will use commercially available equipment. Several areas of the maintenance system design were addressed in fiscal year (FY) 1987, including conceptual designs of manipulator systems, the start of a remote equipment research and development (RandD) program, and definition of the hot cell, decon, and equipment repair facility requirements. R and D work included preliminary demonstrations of remote handling operations on full-size, partial mock-ups of the CIT machine at the Oak Ridge National Laboratory (ORNL) Remote Operations and Maintenance Development (ROMD) Facility. 1 ref., 6 figs

Development of a remote monitoring and control system for nuclear power plants

International Nuclear Information System (INIS)

Lee, Seung Jun; Kim, Jong Hyun; Seong, Poong Hyun

2002-01-01

Nuclear Power Plants (NPPs) will be highly connected network enabled system and need to be monitored and controlled round the clock for high safety and availability. Using the network and web enabled tools, NPPs can be monitored remotely by operators at anytime from any place connected to the network via a general web browser. However, there are security and performance issues associated with such tools, as will be further discussed further. We developed a web-based Remote Monitoring and Control System (RMCS) that uses prevalent web technology. This work, as a preliminary study, performed the conceptual design of the web-based RMCS and developed the prototype

The TFTR maintenance manipulator

International Nuclear Information System (INIS)

Kungl, D.; Loesser, D.; Heitzenroeder, P.; Cerdan, G.

1989-01-01

TFTR plans to begin D-T experiments in mid 1990. The D-T experimental program will produce approximately one hundred shots, with a neutron generation rate of 10 19 neutrons per shot. This will result in high levels of activation in TFTR, especially in the vacuum vessel. The primary purpose of the Maintenance Manipulator is to provide a means of remotely performing certain defined maintenance and inspection tasks inside the vacuum torus so as to minimize personnel exposure to radiation. The manipulator consists of a six-link folding boom connected to a fixed boom on a movable carriage. The entire manipulator is housed in a vacuum antechamber connected to the vacuum torus, through a port formerly used for a vacuum pumping duct. The configuration extends 180 0 in either direction to provide complete coverage of the torus. The four 3500 l/s turbopumps which were formerly used in the pumping duct will be mounted on the antechamber. The manipulator will utilize two end effectors. The first, called a General Inspection Arm (GIA) provides a movable platform to an inspection camera and an in-vacuum leak detector. The second is a bilateral, force-reflecting pair of slave arms which utilize specially developed tools to perform several maintenance functions. All components except the slave arms are capable of operating in TFTR's vacuum environment and during 150 0 C bakeout of the torus. (orig.)

Traction-drive seven degrees-of-freedom telerobot arm: A concept for manipulation in space

International Nuclear Information System (INIS)

Kuban, D.P.; Williams, D.M.

1987-01-01

As man seeks to expand his dominion into new environments, the demand increases for machines that perform useful functions in remote locations. This new concept for manipulation in space is based on knowledge and experience gained from manipulator systems developed to meet the needs of remote nuclear applications. It merges the best characteristics of teleoperation and robotic technologies. This paper summarizes the report of a study performed for NASA Langley Research Center. The design goals for the telerobot, a mechanical description, and technology areas that must be addressed for successful implementation will be presented and discussed. The concept incorporates mechanical traction drives, redundant kinematics, and modular arm subelements to provide a backlash-free manipulator capable of obstacle avoidance. Further development of this arm is in progress at the Oak Ridge National Laboratory

Solar powered oxygen systems in remote health centers in Papua New Guinea: a large scale implementation effectiveness trial.

Science.gov (United States)

Duke, Trevor; Hwaihwanje, Ilomo; Kaupa, Magdalynn; Karubi, Jonah; Panauwe, Doreen; Sa'avu, Martin; Pulsan, Francis; Prasad, Peter; Maru, Freddy; Tenambo, Henry; Kwaramb, Ambrose; Neal, Eleanor; Graham, Hamish; Izadnegahdar, Rasa

2017-06-01

Pneumonia is the largest cause of child deaths in Papua New Guinea (PNG), and hypoxaemia is the major complication causing death in childhood pneumonia, and hypoxaemia is a major factor in deaths from many other common conditions, including bronchiolitis, asthma, sepsis, malaria, trauma, perinatal problems, and obstetric emergencies. A reliable source of oxygen therapy can reduce mortality from pneumonia by up to 35%. However, in low and middle income countries throughout the world, improved oxygen systems have not been implemented at large scale in remote, difficult to access health care settings, and oxygen is often unavailable at smaller rural hospitals or district health centers which serve as the first point of referral for childhood illnesses. These hospitals are hampered by lack of reliable power, staff training and other basic services. We report the methodology of a large implementation effectiveness trial involving sustainable and renewable oxygen and power systems in 36 health facilities in remote rural areas of PNG. The methodology is a before-and after evaluation involving continuous quality improvement, and a health systems approach. We describe this model of implementation as the considerations and steps involved have wider implications in health systems in other countries. The implementation steps include: defining the criteria for where such an intervention is appropriate, assessment of power supplies and power requirements, the optimal design of a solar power system, specifications for oxygen concentrators and other oxygen equipment that will function in remote environments, installation logistics in remote settings, the role of oxygen analyzers in monitoring oxygen concentrator performance, the engineering capacity required to sustain a program at scale, clinical guidelines and training on oxygen equipment and the treatment of children with severe respiratory infection and other critical illnesses, program costs, and measurement of processes and

SAMSIN: the next-generation servo-manipulator

International Nuclear Information System (INIS)

Adams, R.H.; Jennrich, C.E.; Korpi, K.W.

1985-01-01

The Central Research Laboratories (CRL) Division of Sargent Industries is now developing SAMSIN, a next-generation servo-manipulator. SAMSIN is an acronym for Servo-Actuated Manipulator Systems with Intelligent Networks. This paper discusses the objectives of this development and describes the key features of the servo-manipulator system. There are three main objectives in the SAMSIN development: adaptability, reliability, and maintainability. SAMSIN utilizes standard Sargent/CRL sealed master and slave manipulator arms as well as newly developed compact versions. The mechanical arms have more than 20 yr of successful performance in industrial applications such as hot cells, high vacuums, fuel pools, and explosives handling. The servo-actuator package is in a protective enclosure, which may be sealed in various ways from the remote environment. The force limiting characteristics of the servo-actuators extend motion tendon life. Protective bootings increase the reliability of the arms in an environment that is high in airborne contamination. These bootings also simplify the decontamination of the system. The modularity in construction permits quick removal and replacement of slave arms, wrist joints, tong fingers, and actuator packages for maintenance. SAMSIN utilizes readily available off-the-shelf actuator and control system components. Each manipulator motion uses the same actuator and control system components

Two-Dimensional Programmable Manipulation of Magnetic Nanoparticles on-Chip

DEFF Research Database (Denmark)

Sarella, Anandakumar; Torti, Andrea; Donolato, Marco

2014-01-01

A novel device is designed for on-chip selective trap and two-dimensional remote manipulation of single and multiple fluid-borne magnetic particles using field controlled magnetic domain walls in circular nanostructures. The combination of different ring-shaped nanostructures and field sequences ...

ORION - the OMEGA Remote Interactive On-line System

CERN Document Server

Russell, R D; Krieger, M

1973-01-01

ORION is a system which permits the manipulation of files, records and characters, remote job submittal and retrieval of output files including the direct loading of remote on-line computers. The system uses the computer hardware of the OMEGA project at CERN, and is designed to assist researchers in development and debugging of their programs.

Design concepts and advanced manipulator development for nuclear fuel cycle facilities

International Nuclear Information System (INIS)

Feldman, M.J.

1985-01-01

In the Fuel Recycle Division, Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory, a comprehensive remote systems development program has existed for the past seven years. The new remote technology under development is expected to significantly improve remote operations by extending the range of tasks accomplished by remote means and increasing the efficiency of remote work undertaken. The application of advanced manipulation is viewed as an essential part of a series of design directions whose sum describes a somewhat unique blend of old and new technology. A design direction based upon the Teletec concept is explained and recent progress in the development of an advanced servomanipulator-based maintenance concept is summarized to show that a new generation of remote systems is feasible through advanced technology. 14 refs., 14 figs

Completion of the Heysham 2 peripheral manipulator

International Nuclear Information System (INIS)

Shipp, R.; Ewen, R.O.

1996-01-01

The in-service inspection strategy for the AGR power station at Heysham 2 envisaged a suite of five manipulators to be used for inserting TRIUMPH television cameras into the reactor vessel. Prior to power raising, four of the five had been successfully commissioned and have been in regular use during the subsequent statutory outages. The final device, the Peripheral Manipulator (PM), was eventually completed prior to the 1994 outage and has been successfully deployed on reactor for both the 1994 and 1995 outages. The paper describes the design of the manipulator, its operation and scope of use in the Heysham 2 reactors. (Author)

In-cell maintenance by manipulator arm with 3D workspace information recreated by laser rangefinder

International Nuclear Information System (INIS)

Kitamura, Akihiro; Nakai, Koji; Namekawa, Takashi; Watahiki, Masatoshi

2011-01-01

Highlights: → We developed a remote control system for maintenance of in-cell type fuel fabrication equipment. → The system display recreated three-dimensional information of the workspace from data obtained by laser rangefinder and conventional cameras. It has allowed us to operate a manipulator arm remotely with several control modes. → We implemented remote handling experiments using mock up equipment. Performance was compared for remote operation conducted using several different display and operation modes. → It was observed that integration of 3D information from the laser rangefinder reduced operation time and reinforced visual information during remote operation. - Abstract: We developed a remote control system for maintenance of in-cell type fuel fabrication equipment. The system display recreated three-dimensional information of the workspace from data obtained by laser rangefinder and conventional cameras. It has allowed us to operate a manipulator arm remotely with several control modes. In order to evaluate the effectiveness and usefulness of developed system, we implemented remote handling experiments using mock up equipment. Performance was compared for remote operation conducted using several different display and operation modes. We confirmed that the system is able to maintain in-cell fuel fabrication equipment in each display and operation mode. Times required to complete the remote operations were collected and compared in each mode. It was observed that integration of 3D information from the laser rangefinder reduced operation time and reinforced visual information during remote operation.

Full scale tests on remote handled FFTF fuel assembly waste handling and packaging

International Nuclear Information System (INIS)

Allen, C.R.; Cash, R.J.; Dawson, S.A.; Strode, J.N.

1986-01-01

Handling and packaging of remote handled, high activity solid waste fuel assembly hardware components from spent FFTF reactor fuel assemblies have been evaluated using full scale components. The demonstration was performed using FFTF fuel assembly components and simulated components which were handled remotely using electromechanical manipulators, shielding walls, master slave manipulators, specially designed grapples, and remote TV viewing. The testing and evaluation included handling, packaging for current and conceptual shipping containers, and the effects of volume reduction on packing efficiency and shielding requirements. Effects of waste segregation into transuranic (TRU) and non-transuranic fractions also are discussed

ORION-the Omega Remote Interactive On-line System

CERN Document Server

Russell, R D; Levratt, B; Lipps, H; Sparrman, P

1974-01-01

ORION is a system which permits the manipulation of files, records and characters, remote job submittal and retrieval of output files including the direct loading of remote on-line computers. The system uses the computer hardware of the OMEGA project at CERN and is designed to assist researchers in development and debugging of their programs. (10 refs).

The Manipulative Discourse of Gandalf

Directory of Open Access Journals (Sweden)

Farid Mohammadi

2014-07-01

Full Text Available The aim of this essay is to investigate discursive, cognitive and social aspects of manipulation in regard to the dialogues of the literary fictional character of Gandalf in the trilogy of The Lord of the Rings. Accordingly, the researcher has taken a multidisciplinary approach to an account of discursive manipulation, and focuses on the cognitive dimensions of manipulation. As a result, the researcher demonstrates meticulously how manipulation involves intensifying the power, moral superiority and the credibility of the speaker(s, while abusing the others (recipients, along with an emotional and attractive way of expression, and supplemented by reasonable facts and documents in regard to a specific issue.

Computer control of a multi-link manipulator

International Nuclear Information System (INIS)

Holt, J.E.; Thiruarooran, C.

1988-01-01

The Central Electricity Generating Board has a requirement for a manipulator which can deploy to its work location around obstacles. A multilink manipulator has been designed for this purpose. A computer control system designed to ease manipulator operation is described. Using the control program, the manipulator may be deployed using just 2 joysticks. Experience in the use of the program with an inspection manipulator at Sizewell 'A' Nuclear Power Station is discussed. When used to control a manipulator of 9 hydraulically actuated degrees of freedom, a control accuracy of about 1.5% of full extension has been achieved. (author)

Project Plan 7930 Cell G PaR Remote Handling System Replacement

International Nuclear Information System (INIS)

Kinney, Kathryn A.

2009-01-01

For over 40 years the US Department of Energy (DOE) and its predecessors have made Californium-252 ( 252 Cf) available for a wide range of industries including medical, nuclear fuels, mining, military and national security. The Radiochemical Engineering Development Center (REDC) located within the Oak Ridge National Laboratory (ORNL) processes irradiated production targets from the High Flux Isotope Reactor (HFIR). Operations in Building 7930, Cell G provide over 70% of the world's demand for 252 Cf. Building 7930 was constructed and equipped in the mid-1960s. Current operations for 252 Cf processing in Building 7930, Cell G require use of through-the-wall manipulators and the PaR Remote Handling System. Maintenance and repairs for the manipulators is readily accomplished by removal of the manipulator and relocation to a repair shop where hands-on work can be performed in glove boxes. Contamination inside cell G does not currently allow manned entry and no provisions were created for a maintenance area inside the cell. There has been no maintenance of the PaR system or upgrades, leaving operations vulnerable should the system have a catastrophic failure. The Cell G PaR system is currently being operated in a run to failure mode. As the manipulator is now 40+ years old there is significant risk in this method of operation. In 2006 an assessment was completed that resulted in recommendations for replacing the manipulator operator control and power centers which are used to control and power the PaR manipulator in Cell G. In mid-2008 the chain for the bridge drive failed and subsequent examinations indicated several damaged links (see Figure 1). To continue operations the PaR manipulator arm is being used to push and pull the bridge as a workaround. A retrieval tool was fabricated, tested and staged inside Cell G that will allow positioning of the bridge and manipulator arm for removal from the cell should the PaR system completely fail. A fully functioning and

Master--slave manipulators and remote maintenance at the Oak Ridge National Laboratory

International Nuclear Information System (INIS)

Jenness, R.G.; Wicker, C.D.

1975-01-01

The volume of master-slave manipulator maintenance at Oak Ridge National Laboratory has necessitated the establishment of a repair facility and the organization of a specially trained group of craftsmen. Emphasis on cell containment requires the use of manipulator boots and the development of precise procedures for accomplishing the maintenance of 283 installed units. To provide the most economical type of preventive maintenance, a very satisfactory computer-programmed maintenance system has been established at the Laboratory. (auth)

Why do spinal manipulation techniques take the form they do? Towards a general model of spinal manipulation.

Science.gov (United States)

Evans, David W

2010-06-01

For centuries, techniques used to manipulate joints in the spine have been passed down from one generation of manipulators to the next. Today, spinal manipulation is in the curious position that positive clinical effects have now been demonstrated, yet the theoretical base underpinning every aspect of its use is still underdeveloped. An important question is posed in this masterclass: why do spinal manipulation techniques take the form they do? From the available literature, two factors appear to provide an answer: 1. Action of a force upon vertebrae. Any 'direct' spinal manipulation technique requires that the patient be orientated in such a way that force is applied perpendicular to the overlying skin surface so as to act upon the vertebrae beneath. If the vertebral motion produced by 'directly' applied force is insufficient to produce the desired effect (e.g. cavitation), then force must be applied 'indirectly', often through remote body segments such as the head, thorax, abdomen, pelvis, and extremities. 2. Spinal segment morphology. A new hypothesis is presented. Spinal manipulation techniques exploit the morphology of vertebrae by inducing rotation at a spinal segment, about an axis that is always parallel to the articular surfaces of the constituent zygapophysial joints. In doing so, the articular surfaces of one zygapophysial joint appose to the point of contact, resulting in migration of the axis of rotation towards these contacting surfaces, and in turn this facilitates gapping of the other (target) zygapophysial joint. Other variations in the form of spinal manipulation techniques are likely to depend upon the personal style and individual choices of the practitioner.

Water hydraulic manipulator for fail safe and fault tolerant remote handling operations at ITER

International Nuclear Information System (INIS)

Nieminen, Peetu; Esque, Salvador; Muhammad, Ali; Mattila, Jouni; Vaeyrynen, Jukka; Siuko, Mikko; Vilenius, Matti

2009-01-01

Department of Intelligent Hydraulics and Automation (IHA) of Tampere University of Technology has been involved in the European Fusion program since 1994 within the ITER reactor maintenance activities. In this paper we discuss the design and development of a six degrees of freedom water hydraulic manipulator with a force feedback for teleoperation tasks. The manipulator is planned to be delivered to Divertor Test Platform 2 (DTP2) during year 2008. The paper also discusses the possibility to improve the fail safe and redundant operation of the manipulator. During the design of the water hydraulic manipulator, special provisions have been made in order to meet the safety requirements such as servo valve block for redundant operation and safety vane brakes for fail safe operation.

Development of mobile manipulator for maintenance work in containment vessels of nuclear power plants

International Nuclear Information System (INIS)

Omichi, Takeo; Nishihara, Masatoshi; Hosaka, Shigetaka; Nakayama, Junji; Sato, Masatoshi; Ishida, Michiyasu

1985-01-01

The teleoperation system with robot is described for in the containment vessels of nuclear power plants. We have developed a high level robot system as the practical use level. The robot is designed to execute the locomotions and manipulations required for closing and opening the valve, tightening the bolt and others. The robot consists of a locomotor with four legs and two driving wheels, an articulated manipulator with seven joints, and an ITV arm with stereo-camera. The size of the robot is small, that is about 500 mm in length, 500 mm in width, 1200 mm in height and 420 kg in weight. The robot can be operated in a hostile environment, which has a 10 6 R gamma ray dose, 70 deg C temperature, 100 % relative humidity. We have added an advanced control method in order to reduce the operator's load. Also, an interlock and a fail-safe control are installed in the robot system. (author)

MEMS acceleration sensor with remote optical readout for continuous power generator monitoring

Directory of Open Access Journals (Sweden)

Tormen Maurizio

2015-01-01

Full Text Available Miniaturized accelerometers with remote optical readout are required devices for the continuous monitoring of vibrations inside power generators. In turbo and hydro generators, end-winding vibrations are present during operation causing in the long term undesirable out-of-service repairs. Continuous monitoring of these vibrations is therefore mandatory. The high electromagnetic fields in the generators impose the use of devices immune to electromagnetic interferences. In this paper a MEMS based accelerometer with remote optical readout is presented. Advantages of the proposed device are the use of a differential optical signal to reject the common mode signal and noise, the reduced number of steps for the MEMS chip fabrication and for the system assembly, and the reduced package volume.

Development of remote crane system for use inside small argon hot-cell

Energy Technology Data Exchange (ETDEWEB)

Lee, Jong Kwang; Park, Byung Suk; Yu, Seung-Nam; Kim, Kiho; Cho, Ilje [Nuclear Fuel Cycle Process Technology Development Division, Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2013-07-01

In this paper, we describe the design of a novel crane system for the use in a small argon hot-cell where only a pair of master-slave manipulators (MSM) is available for the remote maintenance of the crane. To increase the remote maintainability in the space-limited environment, we devised a remote actuation mechanism in which electrical parts consisting of a servo-motor, a position sensor, and two limit switches located inside the workspace of the MSM transmit power to the mechanical parts located in the ceiling. Even though the design concept does not provide thoroughly sufficient solution because the mechanical parts are placed out of the MSM's workspace, the durability of mechanical parts can be easily increased if they have a high safety margin. Therefore, the concept may be one of the best solutions for our special crane system. In addition, we developed a servo-control system based on absolute positioning technology; therefore, it is possible for us to perform the given tasks more safely through an automatic operation. (authors)

Development of remote controller for an EMI test receiver in site survey

International Nuclear Information System (INIS)

Cha, K. H.; Hwang, I. G.; Lee, D. Y.; Lee, K. Y.; Park, J. K.

2000-01-01

EMI assessment, which is based on the Site survey(the measurement of EMI noise) in an operating plant, can be considered for system design. Our Site survey is being planned to utilize the ESI7 model, to be manufactured as the EMI test receiver by Rodge-Schwaltz GmbH. But the ESI7 is often manipulated by manual if a Site survey is continued for some days in nuclear power plant. The problem can be resolved if a remote controller is implemented for the ESI7 and it controls the ESI7. The Remote Controller has its functions for supporting the ESI7 manual tasks, including storing mass SCAN data onto external PC memory (hard-disk), controlling ESI7, and analyzing the stored SCAN data. These functions have been implemented in 'G' programming of LabVIEW software under a notebook PC with PCMCIA-GPIB card. The Remote Controller prototype will be applied to store the real EMI measurements in the coming Site survey and analyze the data after integrated tests and their evaluation

Geometric control of manipulators

International Nuclear Information System (INIS)

Thiruarooran, C.

1996-01-01

Resolved motion control enables the end effector to be moved as a rigid body in space without having to work out manually the joint combinations needed. Since a rigid body in space has three independent translational and three independent rotational movements, a manipulator with at least six joints can be controlled in this way. Normally the manipulator has more than six joints providing an infinite number of ways of moving the tip in the desired direction and this redundancy can be exploited in a variety of ways. Resolved motion tests performed on a hydraulically operated heavy duty manipulator at the Dungeness nuclear power plant are described. The results have shown that manipulators with as many as ten joints can be controlled under resolved tip motion and the areas which are critical to the performance of this type of control have been identified. (UK)

Remote maintenance design activities and research and development accomplishments for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Spampinato, P.T.

1988-01-01

The use of deuterium-tritium (D-T) fuel for the Compact Ignition Tokamak (CIT) requires the use of remote handling technology to carry out maintenance operations. The remote operations consist of removing and replacing such components as first wall armor protection tiles, radio-frequency (rf) heating modules, and diagnostic modules. The major pieces of equipment being developed for maintenance activities internal to the vacuum vessel include an articulated boom manipulator (ABM), an inspection manipulator, and special tooling. For activities external to the vessel, the equipment includes a bridge-mounted manipulator system, decontamination equipment, hot cell equipment, and solid radiation-waste (rad-waste) handling and packaging equipment. The CIT Project is completing the conceptual design phase; research and development (R and D) activities, which include demonstrations of remote maintenance operations on full-size partial mock-ups are under way. 5 figs

Remote maintenance design activities and research and development accomplishments for the compact ignition tokamak

International Nuclear Information System (INIS)

Spampinato, P.T.

1989-01-01

The use of deuterium-tritium (D-T) fuel for the Compact Ignition Tokamak (CIT) requires the use of remote handling technology in order to carry out maintenance operations. The remote operations consist of removing and replacing such components as first wall armor protection tiles, radio-frequency (RF) heating modules, and diagnostic modules. The major pieces of equipment being developed for maintenance operations internal to the vacuum vessel include an articulated boom manipulator (ABM), an inspection manipulator, and special tooling. For operations external to the vessel, the equipment includes a bridge-mounted manipulator system, decontamination equipment, hot cell equipment, and solid radioactive waste (rad-waste) handling and packaging equipment. The CIT Project is completing the conceptual design phase; research and development (R and D) activities, which include demonstrations of remote maintenance operations on full-size partial mock-ups are under way. (orig.)

Remote-Controlled Robots Used for the Management of Severe Accident of the Fukushima Nuclear Power Plant

International Nuclear Information System (INIS)

Cho, Jai Wan; Jeong, Kyung Min

2011-01-01

In this paper, remote-controlled robots, which have been used to stabilize and shut down the three troubled reactors (unit 1, 2 and 3) of the Fukushima nuclear power plant, are presented. From the press materials of NISA (nuclear and industrial safety agency), TEPCO (Tokyo electric power company) and the Yomiuri online news, we investigated the robots, which have been used for the management of severe accident of the Fukushima nuclear power plant. The military robots provided by USA, Packbot and Warrior, which are unmanned ground robots, have been sent into Unit 1 to Unit 3 to grasp the inside situation of reactor building and to record the radiation from the interior of reactors no. 1, 2, and 3. The Japanese robot, Quince, which was originally designed to be a rescue robot for disaster recovery, were modified and sent to carry out the installation of a water level gauge for the accumulated water in the basement of Unit 2. Unmanned military aerial robot, T-Hawk, provided by USA was used to check the status of rubbles around reactor building of Unit 1, 2, 3 and 4. And remote controlled construction robots made by Japan are used to clear outdoor rubbles by wireless remote control to improve working conditions

Robotics and remote systems applications

International Nuclear Information System (INIS)

Rabold, D.E.

1996-01-01

This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling

Telemanipulation - a special activity in remotely controlled operations

International Nuclear Information System (INIS)

Rose, K.W.; Andre, Y.

1992-01-01

Work to be done in areas hostile to humans needs special and careful preparation. If short-term entry is possible, groups of men can be trained to do the necessary work. If not, special devices have to be designed, built, and tested on mockups before the real work can be executed. Based on experience gained from maintenance in car production and test programs for a reprocessing facility, it was decided to train a special group of men to do remotely controlled work in hostile areas without endangering them and to use their personal experience as the basis for future work. This is the old-fashioned way of all professions. Some needs to be able to do that remotely controlled work with normally existing operational means and combinations of them like cranes, mechanical and electromechanical master slave manipulators (MMSMs and EMSMs), saws, files, hammer, tig-welding equipment, etc., in air as well as underwater. This paper discusses use of a remote operator manipulator (ROM), remote operator welder (ROW), a test of underwater work, and the repair of two activated jets pumps of a boiling water reactor BWR with a fueling machine, reactor crane, EMSM, and conventional tools

A Comparative case study of remote area power supply systems using photovoltaic-battery vs thermoelectric-battery configuration

NARCIS (Netherlands)

Tan, Lippong; Date, Abhijit; Zhang, Bingjie; Singh, Baljit; Ganguly, Sayantan

The paper presents a comparative study of two types of remote area power supply (RAPS) systems, which are the existing photovoltaic-based (PV) configuration and the proposed thermoelectric-based (TE) configuration. Both RAPS systems are solar-based power generators and sized according to Melbourne

Remote Area Power Supply (RAPS) load and resource profiles.

Energy Technology Data Exchange (ETDEWEB)

Giles, Lauren (Energetics, Inc., Washington, DC); Skolnik, Edward G. (Energetics, Inc., Washington, DC); Marchionini, Brian (Energetics, Inc., Washington, DC); Fall, Ndeye K. (Energetics, Inc., Washington, DC)

2007-07-01

In 1997, an international team interested in the development of Remote Area Power Supply (RAPS) systems for rural electrification projects around the world was organized by the International Lead Zinc Research Organization (ILZRO) with the support of Sandia National Laboratories (SNL). The team focused on defining load and resource profiles for RAPS systems. They identified single family homes, small communities, and villages as candidates for RAPS applications, and defined several different size/power requirements for each. Based on renewable energy and resource data, the team devised a ''strawman'' series of load profiles. A RAPS system typically consists of a renewable and/or conventional generator, power conversion equipment, and a battery. The purpose of this report is to present data and information on insolation levels and load requirements for ''typical'' homes, small communities, and larger villages around the world in order to facilitate the development of robust design practices for RAPS systems, and especially for the storage battery component. These systems could have significant impact on areas of the world that would otherwise not be served by conventional electrical grids.

Manipulator for inspection or repair of heat exchanger tubes, in particular in steam generators for nuclear reactors

International Nuclear Information System (INIS)

Gugel, G.

1979-01-01

The manipulator used to inspect or repair pipes in the steam generator chamber of a PWR can be introduced and removed through a penetration nozzle which can be sealed tightly by means of a blind flange. The front end of the manipulator carries a swivel arm which can be operated remotely to be moved in a plane parallel to the tube plate. The end of the swivel arm carries a holder for a mouthpiece which can be extended and retracted. This carrier can also be operated remotely so as to be aligned to the pipe orifices in a direction normal to the swivel plane of the swivel arm. The manipulator is supported in antifriction bearings in the penetration nozzle so as to be movable longitudinally. (DG) [de

Remote operation and maintenance demonstration facility at ORNL

International Nuclear Information System (INIS)

Harvey, H.W.; Floyd, S.D.; Kuban, D.P.; Singletary, B.H.; Stradley, J.G.

1978-01-01

The Remote Operation and Maintenance Facility is a versatile facility arranged to mock up various hot cell configurations. Modular units of simulated shielding and viewing windows were built to provide flexibility in arrangement. The facility is fully equipped with hoists, manipulators, television, and other basic equipment and services necessary to provide capability for both remote operation and maintenance of several selected functional process equipment groups

Distinguishing manipulated stocks via trading network analysis

Science.gov (United States)

Sun, Xiao-Qian; Cheng, Xue-Qi; Shen, Hua-Wei; Wang, Zhao-Yang

2011-10-01

Manipulation is an important issue for both developed and emerging stock markets. For the study of manipulation, it is critical to analyze investor behavior in the stock market. In this paper, an analysis of the full transaction records of over a hundred stocks in a one-year period is conducted. For each stock, a trading network is constructed to characterize the relations among its investors. In trading networks, nodes represent investors and a directed link connects a stock seller to a buyer with the total trade size as the weight of the link, and the node strength is the sum of all edge weights of a node. For all these trading networks, we find that the node degree and node strength both have tails following a power-law distribution. Compared with non-manipulated stocks, manipulated stocks have a high lower bound of the power-law tail, a high average degree of the trading network and a low correlation between the price return and the seller-buyer ratio. These findings may help us to detect manipulated stocks.

The Role of Telematic Practices in Computer Engineering: A Low-cost Remote Power Control in a Network Lab

Directory of Open Access Journals (Sweden)

Tomas Mateo Sanguino

2012-05-01

Full Text Available The present paper describes a practical solution of e-learning laboratory devoted to the study of computer networks. This laboratory has been proven with two groups of students from the University of Huelva (Spain during two academic years. In order to achieve this objective, it has been necessary to create an entire network infrastructure that includes both the telematic access to the laboratory equipment and the remote power control. The interest of this work lies in an economical and simple system of remote control and telematic access with a twofold objective. On the one hand, to develop distance practices with attendance appearance by means of real hardware systems, not simulated. On the other hand, to reduce the power consumption regarding other proposals of remote labs with permanent power connection, providing herein an on demand connection only when required. As a result, a versatile and flexible laboratory has been put into practice whose basic network topology allows transferring traditional practices to telematic practices in a natural way and without harsh changes

Remote sensing of natural resources. Quarterly literature review, October-December 1980

International Nuclear Information System (INIS)

Gonzales, R.W.; Inglis, M.H.

1981-02-01

This review covers literature pertaining to documented data and data gathering techniques that are performed or obtained remotely from space, aircraft, or ground-based stations. All of the documentation is related to remote sensing sensors or the remote sensing of the natural resources. Section headings are: general; geology; environmental quality; hydrology; vegetation; oceanography; regional planning and land use; data manipulation; and instrumentation and technology

Combined long reach and dexterous manipulation for waste storage tank applications

International Nuclear Information System (INIS)

Burks, B.L.; Armstrong, G.A.; Butler, P.L.; Boissiere, P.

1991-01-01

One of the highest priority environmental restoration tasks within the Department of Energy (DOE) is the remediation of single-shell waste storage tanks (WSTs), especially those suspected of, or documented as, leakers. Most currently proposed approaches for remediation of large underground WSTs require application of remotely operated long-reach (greater than 10 m), high-lift capacity (greater than 200 kg) manipulator systems. Because of the complexity of in-tank hardware, waste forms, remediation tasks, and variety of end-effector tools, these manipulator systems must also be capable of performing a diverse set of dexterous manipulations. This presentation will describe the integration of a Spar RMS 2500 manipulator system, a Schilling Titan-7F manipulator, and control systems developed at ORNL and SNL to provide a combined long reach and dexterous manipulation system. The purpose of integrating these two manipulator systems was to study and demonstrate their combined performance, evaluate design requirements for a deployed system, and provide a testbed for control and end-effector technologies that might be applicable to remediation of WSTs. 5 refs

Performance evaluation of the Personal Mobility and Manipulation Appliance (PerMMA).

Science.gov (United States)

Wang, Hongwu; Xu, Jijie; Grindle, Garrett; Vazquez, Juan; Salatin, Ben; Kelleher, Annmarie; Ding, Dan; Collins, Diane M; Cooper, Rory A

2013-11-01

The Personal Mobility and Manipulation Appliance (PerMMA) is a recently developed personal assistance robot created to provide people with severe physical disabilities enhanced assistance in both mobility and manipulation. PerMMA aims to improve functional independence when a personal care attendant is not available on site. PerMMA integrates both a smart powered wheelchair and two dexterous robotic arms to assist its users in completing essential mobility and manipulation tasks during basic and instrumental activities of daily living (ADL). Two user interfaces were developed: a local control interface and a remote operator controller. This paper reports on the evaluation of PerMMA with end users completing basic ADL tasks. Participants with both lower and upper extremity impairments (N=15) were recruited to operate PerMMA and complete up to five ADL tasks in a single session of no more than two hours (to avoid fatigue or frustration of the participants). The performance of PerMMA was evaluated by participants completing ADL tasks with two different control modes: local mode and cooperative control. The users' task completion performance and answers on pre/post-evaluation questionnaires demonstrated not only the ease in learning and usefulness of PerMMA, but also their attitudes toward assistance from advanced technology like PerMMA. As a part of the iterative development process, results of this work will serve as supporting evidence to identify design criteria and other areas for improvement of PerMMA. Copyright © 2013 IPEM. All rights reserved.

Development of a ROV titanium manipulator for light work class ROV vehicles

OpenAIRE

Garay, Gaizka X.; Sosa, Dario

2016-01-01

This paper shows the development of a high technical equipment to be used as tooling of submersible ROV (Remote Operated Vehicles) for offshore operations, particularly the design and fabrication by Additive Manufacturing (AM) of a Titanium Manipulator for ROVs. From the initial concept and design until a new formed company “TITANROB”, this document shortly describes the fabrication of hydraulic titanium manipulators for mid size ROV vehicles, the TitanRob series M501, G500 ...

Remote removal of contaminated equipment from a radiochemical engineering cell

International Nuclear Information System (INIS)

Scharnhorst, N.L.; Bryan, G.H.; Bjorklund, W.J.

1984-01-01

Large-scale vitrification equipment in a radioactive cell was dismantled and packed for burial through the use of viewing windows with manipulators, two overhead cranes, and unique tools for disassembling, grabbing, and handling the equipment components. An air-driven reciprocating hacksaw, remotely placed and operated, was used to cut large structural members inaccessible by the manipulators. Remotely operated circular saws and a plasma torch were used to cut calciners, furnaces, storage vessels, piping, pumps, and structural members into pieces that were placed safely into shielded burial boxes. This engineering effort was accomplished without any exposure problems in approximately 17 months, which required almost 10 equivalent worker-years. 8 figures, 1 table

Proceedings of FED remote maintenance equipment workshop

International Nuclear Information System (INIS)

Sager, P.; Garin, J.; Hager, E.R.; Spampinato, P.T.; Tobias, D.; Young, N.

1981-11-01

A workshop was convened in two sessions in January and March 1981, on the remote maintenance equipment for the Fusion Engineering Device (FED). The objectives of the first session were to familiarize the participants with the status of the design of the FED and to develop a remote maintenance equipment list for the FED. The objective of the second session was to have the participants present design concepts for the equipment which had been identified in the first session. The equipment list was developed for general purpose and special purpose equipment. The general purpose equipment was categorized as manipulators and other, while the special purpose equipment was subdivided according to the reactor subsystem it serviced: electrical, magnetic, and nuclear. Both mobile and fixed base manipulators were identified. Handling machines were identified as the major requirement for special purpose equipment

Remotely controlled working equipment and mobile systems for damage assessment

International Nuclear Information System (INIS)

Koehler, G.W.; Salaske, M.

1975-01-01

All functions of the MF3 vehicle with its variable geometry chassis were verified in accordance with specifications. Fixed price bids have now been submitted by industries on the action control system and the EMSM II manipulators. Tests of the EMSM I manipulator with supplements especially the remotely controlled application of tools, have been started. (orig.) [de

Manipulator Performance Evaluation Using Fitts' Taping Task

Energy Technology Data Exchange (ETDEWEB)

Draper, J.V.; Jared, B.C.; Noakes, M.W.

1999-04-25

Metaphorically, a teleoperator with master controllers projects the user's arms and hands into a re- mote area, Therefore, human users interact with teleoperators at a more fundamental level than they do with most human-machine systems. Instead of inputting decisions about how the system should func- tion, teleoperator users input the movements they might make if they were truly in the remote area and the remote machine must recreate their trajectories and impedance. This intense human-machine inter- action requires displays and controls more carefully attuned to human motor capabilities than is neces- sary with most systems. It is important for teleoperated manipulators to be able to recreate human trajectories and impedance in real time. One method for assessing manipulator performance is to observe how well a system be- haves while a human user completes human dexterity tasks with it. Fitts' tapping task has been, used many times in the past for this purpose. This report describes such a performance assessment. The International Submarine Engineering (ISE) Autonomous/Teleoperated Operations Manipulator (ATOM) servomanipulator system was evalu- ated using a generic positioning accuracy task. The task is a simple one but has the merits of (1) pro- ducing a performance function estimate rather than a point estimate and (2) being widely used in the past for human and servomanipulator dexterity tests. Results of testing using this task may, therefore, allow comparison with other manipulators, and is generically representative of a broad class of tasks. Results of the testing indicate that the ATOM manipulator is capable of performing the task. Force reflection had a negative impact on task efficiency in these data. This was most likely caused by the high resistance to movement the master controller exhibited with the force reflection engaged. Measurements of exerted forces were not made, so it is not possible to say whether the force reflection helped

Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

International Nuclear Information System (INIS)

Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

2002-01-01

As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

Manipulator for plasma-assisted machining of components made of materials with low machinability

International Nuclear Information System (INIS)

Lyaoshchukov, M.M.; Agadzhanyan, R.A.

1984-01-01

The All-Union Scientific-Research and Technological Institute of Pump Engineering developed, and the ''Uralgidromash'' Production Association has adopted, a manipulator with remote control for the plasma-assisted machining (PAM) of components made of materials with low machinability. The manipulator is distinguished by its universal design and can be used for machining both external and internal surfaces of the bodies of revolution and also end faces and various curvilinear surfaces

Remote Operation and Maintenance Demonstration Facility at ORNL

International Nuclear Information System (INIS)

Harvey, H.W.; Floyd, S.D; Kuban, D.P.; Singletary, B.H.; Stradley, J.G.

1978-01-01

The Remote Operation and Maintenance Facility is a versatile facility arranged to mock-up various hot-cell configurations. Modular units of simulated shielding and viewing windows were built to provide flexibility in arrangement. The facility is fully equipped with hoists, manipulators, television, and the other basic equipment and services necessary to provide capability for both remote operation and maintenance of several selected functional process equipment groups. 6 figures

Introduction of a system of monitoring and automation of manipulator for hotcell in net

Energy Technology Data Exchange (ETDEWEB)

Fernandes, Guilherme Bezerra; Campos, Tarcisio Passos Ribeiro de [Universidade Federal de Minas Gerais (UFMG), Belo Horizonte, MG (Brazil). Programa de Pos-graduacao em Ciencias e Tecnicas Nucleares]. E-mails: guilhermemaster@gmail.com; campos@nuclear.ufmg.br

2007-07-01

Herein, the paper addresses the improvements on the automation procedures and security aspects of a hot cell developed by the NRI/PCTN for manipulating sealed radioactive sources. For such, it was necessary the construction of a vision system, a operational system for the manipulator and auxiliary systems for grasping. For the vision system, a set of five CCD cameras coupled with electromechanical device provide orientation into a solid angle made of 180 deg (x-axis) and 180 deg (z-axis), assembled with gears motors. Two cameras are placed into the hot cell and three outside. The system of operation of the manipulator have been reconstructed including: software, firmware and the electronics in order to improve the control of the eight freedom degrees through microcontroller circuits. The auxiliary systems involve two devices that allow the opening and closing the recipes in which the radioactive source is enclosed. Three distinct keyboards, one for each system, had also been developed for independent control without computer. All the systems when integrated allow the remote operation, that is, operated by remote control at large distance, promoting the security of the operators in the manipulation of the radioactive sources. (author)

Concept Design of the Payload Handling Manipulator System. [space shuttle orbiters

Science.gov (United States)

1975-01-01

The design, requirements, and interface definition of a remote manipulator system developed to handle orbiter payloads are presented. End effector design, control system concepts, and man-machine engineering are considered along with crew station requirements and closed circuit television system performance requirements.

Minimum long-term cost solution for remote telecommunication stations on the basis of photovoltaic-based hybrid power systems

International Nuclear Information System (INIS)

Kaldellis, J.K.; Ninou, I.; Zafirakis, D.

2011-01-01

In the case of the telecommunication (T/C) services' expansion to rural and remote areas, the market generally responds with the minimum investments required. Considering the existing situation, cost-effective operation of the T/C infrastructure installed in these regions (i.e. remote T/C stations) becomes critical. However, since in most cases grid-connection is not feasible, the up-to-now electrification solution for remote T/C stations is based on the operation of costly, oil consuming and heavy polluting diesel engines. Instead, the use of photovoltaic (PV)-based hybrid power stations is currently examined, using as a case study a representative remote T/C station of the Greek territory. In this context, the present study is concentrated on the detailed cost-benefit analysis of the proposed solution. More precisely, the main part of the analysis is devoted to develop a complete electricity production cost model, accordingly applied for numerous oil consumption and service period scenarios. Note that in all cases examined, zero load rejections is a prerequisite while minimum long-term cost solutions designated are favorably compared with the diesel-only solution. Finally, a sensitivity analysis, demonstrating the impact of the main economic parameters on the energy production cost of optimum sized PV-diesel hybrid power stations, is also provided. - Research highlights: → Expansion of telecommunication (T/C) in remote areas is vital for their development. → Off-grid T/C stations employed in such areas operate on diesel engines. → The use of PV-diesel-battery hybrid power stations is currently examined. → A detailed long-term electricity production cost model is developed. → Cost-effectiveness of the proposed system is reflected for numerous configurations.

Remote handling of JET in-torus components. A practical experience

International Nuclear Information System (INIS)

Mills, S.; Brade, R.; Edwards, P.

2000-01-01

This paper summarises the experiences gained from the extensive handling of JET components inside the torus. The problems involved with handling components not designed to be remotely handled and the methods used to overcome them are described and discussed with specific examples from recent JET remote operations. The method employed for remotely producing structural TIG welds is explained. The problems of dextrous manipulation in an inverted attitude are discussed and the methods of amelioration are described

Supporting Renewables’ Penetration in Remote Areas through the Transformation of Non-Powered Dams

Directory of Open Access Journals (Sweden)

Thomas Patsialis

2016-12-01

Full Text Available Supplying power to remote areas may be a challenge, even for those communities already connected to the main grid. Power is often transmitted from long distances, under adverse weather conditions, and with aged equipment. As a rule, modernizing grid infrastructure in such areas to make it more resilient faces certain financial limitations. Local distribution may face stability issues and disruptions through the year and—equally important—it cannot absorb significant amounts of locally-produced power. The European policy has underlined the importance of energy production in local level towards meeting energy security and climate targets. However, the current status of these areas makes the utilization of the local potential prohibitive. This study builds on the observation that in the vicinity of such mountainous areas, irrigation dams often cover different non energy-related needs (e.g., irrigation, drinking water. Transforming these dams to small-scale hydropower (SHP facilities can have a twofold effect: it can enhance the local energy portfolio with a renewable energy source that can be regulated and managed. Moreover, hydropower can provide additional flexibility to the local system and through reservoir operation to allow the connection of additional solar photovoltaic capacities. The developed methodological approach was tested in remote communities of mountainous Greece, where an earth-fill dam provides irrigation water. The results show a significant increase of renewables’ penetration and enhanced communities’ electricity autarky.

Development of spent fuel remote handling technology

International Nuclear Information System (INIS)

Yoon, J. S.; Hong, H. D.; Kim, S. H.

2004-02-01

In this research, the remote handling technology is developed for the advanced spent fuel conditioning process which gives a possible solution to deal with the rapidly increasing spent fuels. In detail, a fuel rod slitting device is developed for the decladding of the spent fuel. A series of experiments has been performed to find out the optimal condition of the spent fuel voloxidation which converts the UO 2 pellet into U 3 O 8 powder. The design requirements of the ACP equipment for hot test is established by analysing the modular requirement, radiation hardening and thermal protection of the process equipment, etc. The prototype of the servo manipulator is developed. The manipulator has an excellent performance in terms of the payload to weight ratio that is 30 % higher than that of existing manipulators. To provide reliability and safety of the ACP, the 3 dimensional graphic simulator is developed. Using the simulator the remote handling operation is simulated and as a result, the optimal layout of ACP is obtained. The supervisory control system is designed to control and monitor the several different unit processes. Also the failure monitoring system is developed to detect the possible accidents of the reduction reactor

Enhancement of electromechanical manipulator performance by external sensory feedback

International Nuclear Information System (INIS)

Um, Taejun; Yoon, Jisup; Jung, Wootae; Lee, Jaesol.

1990-01-01

The electromechanical manipulator (EMM) is widely used in nuclear facilities because of its strength and mechanical reliability. Nevertheless, the lack of internal position or force feedback makes it unsuitable for many tasks that require a high level of dexterity. At the remote handling department of Korea Atomic Energy Research Institute, a series of research and development (R and D) activities was conducted to provide a higher degree of intelligence to the EMM with the aid of external sensory devices. These R and D activities focus on remote viewing and remote measurement in radioactive environments. As a result, an improved EMM system was achieved that incorporates various sensory devices such as a motion tracking system and a laser vision system. This paper presents detailed technical descriptions of these sensors and test results

Robotic-Movement Payload Lifter and Manipulator

Science.gov (United States)

Doggett, William R. (Inventor); King, Bruce D. (Inventor); Collins, Timothy J. (Inventor); Dorsey, John T. (Inventor)

2011-01-01

A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

MANOLA - demonstration of the manipulator and transport vehicle system; MANOLA. Vorstellung des Manipulator- und Transportwagensystems

Energy Technology Data Exchange (ETDEWEB)

Kern, P.; Gentes, S. [Karlsruher Institut fuer Technologie (KIT), Karlsruhe (Germany). Inst. fuer Technologie und Management im Baubetrieb, Technologie und Management des Rueckbaus kerntechnischer Anlagen

2011-07-01

The deconstruction of nuclear facilities has triggered the construction of remote handling systems. For the decontamination of surfaces the use of automatic robotics has significantly decreased the dose rate of the personnel and increased the efficiency. The authors describe the carrier system for the project MANOLA (manipulator controlled laser ablation technology) that can not only move in vertical and horizontal direction but also circumnavigate obstacles. This has reduced the cycle time and increased the efficiency. The weight of the transport vehicle is also reduced compared to the previous system AMANDA.

Remote detection system

International Nuclear Information System (INIS)

Nixon, K.V.; France, S.W.; Garcia, C.; Hastings, R.D.

1981-05-01

A newly designed remote detection system has been developed at Los Alamos that allows the collection of high-resolution gamma-ray spectra and neutron data from a remote location. The system consists of the remote unit and a command unit. The remote unit collects data in a potentially hostile environment while the operator controls the unit by either radio or wire link from a safe position. Both units are battery powered and are housed in metal carrying cases

Remote maintenance for a new generation of hot cells

International Nuclear Information System (INIS)

Feldman, M.J.; Grant, N.R.

1987-01-01

For several years the Consolidated Fuel Reprocessing Program (CFRP) at Oak Ridge National Laboratory (ORNL) has been developing facility concepts, designing specialized equipment, and testing prototypical hardware for reprocessing spent fuel from fast breeder reactors. The major facility conceptual design, the Hot Experimental Facility, was based on total remote maintenance to increase plant availability and to reduce radiation exposure. This thrust included designing modular equipment to facilitate maintenance and the manipulation necessary to accomplish maintenance. Included in the design repetoire was the development effort in advanced servomanipulator systems, a remote sampling system, television viewing, and a transporter for manipulator positioning. Demonstration of these developed items is currently ongoing, and the technology is available for applications where production operations in highly radioactive environments are required

Robotic design analysis based on teleoperated manipulator data collection

International Nuclear Information System (INIS)

Stoughton, R.S.; Martin, H.L.

1985-01-01

Extensive data collection was performed on a servomanipulator system (TeleOperator Systems SM-229) to determine the motion range and mechanical power usage of the manipulator under direct human control. More than 50 hours of various manipulation operations were performed while joint positions and motor currents were recorded. Reduction of these data yielded histograms of the manipulator usage patterns revealing areas where future manipulator motion ranges and drive systems could be optimized. This report develops a graphical representation of mechanical power usage that relates torque and velocity to the total usage time. Methods of interpreting this representation are discussed and generalized for use in analyzing robotic systems. The resulting technique will allow designers to reevaluate an operating system and determine how to improve that system's design

SOLAR TO AC POWER SOURCE FOR REMOTE AREAS USING SEIG

Directory of Open Access Journals (Sweden)

MEHMET AKBABA

2012-02-01

Full Text Available Photovoltaic generators (PVG are increasingly used to provide electricity in remote areas. However, in many applications the DC generated electricity by a PVG need to be converted to AC. Traditionally DC to AC inverters have been widely used for this purpose. In this paper, a different system is proposed in which a self excited induction generator (SEIG driven by a permanent magnet DC motor (DCM and powered from a PVG through a maximum power point tracker (MPPT are used. A step-up chopper is utilized as an MPPT unit. The proposed system is modelled in time domain, and a detailed transient and steady-state analysis are presented. The main reason behind analyzing the system in the time domain is because of the fact that for unknown speeds, the methods developed for steady-state analysis of SEIGs can not be applied. The presented work shows that the full available power of the PVG can be harnessed by selecting suitable values for the duty cycle and the frequency of the step up chopper and the excitation capacitor of the SEIG. It is also shown that with such a combination power utilization efficiency of more than 83% can be achieved.

Computer control of ET-RR-1 hot cell manipulators

International Nuclear Information System (INIS)

Effat, A.M.; Rahman, F.A.

1990-01-01

The hot cell designed for remote handling of radioactive materials are, in effect, integral systems of safety devices for attaining adequate radiological protection for the operating personnel. Their operation involve potential hazards that are sometimes of great magnitude. The effect of an incident or accident could thus be fatal. some of these incident are due to the collision of the manipulator slave side with the radioactive objectives. Therefore in order to minimize the probability of such type of incidents, the movement of the manipulators is suggested (in the present investigation) to be kept under computer control. A model have been developed to control the movement of the hot cell manipulators in the slave side for Egypt first research reactor ET-RR-1, specially in the hidden sectors. The model is based on the use of a microprocessor and some accessories fixed to the manipulators slave side in a special manner such that it prevents the manipulator from colliding with radioactive objects. This is achieved by a signal transmitted to a specially designed brake which controls the movement of the upper arm of the manipulator master side. The hardware design of the model as well as the software are presented in details

Nuclear power plant remote monitoring system of Hessen (KFUe Hessen) now fully available

International Nuclear Information System (INIS)

Lettmann, W.; Merkel, M.

1991-01-01

The remote monitoring system for the Biblis nuclear power station has commenced operation in 1990. It is intended to provide the radiological data and other information required by the supervisory Land authority for performing its supervisory functions in accordance with the Atomic Energy Act. The monitoring station records and reports emissions of the reactor station during specified normal operation and as a result of incidents or accidents, measures local dose rates at four measuring stations at the power plant fence, and records the meteorological conditions. The system is explained in detail, including illustration and graphs. (BBR) [de

Implementation of a Digital Mock-up for Remote Hot cell Operations

International Nuclear Information System (INIS)

Park, Hee Seong; Park, Byung Suk; Kim, Sung Hyun; Kim, Ki Ho; Kim, Ho Dong

2010-01-01

A remote manipulation environment that a human operator has to observe is the inner side of a hotcell through a lead grass window which has many obstacles due to many existing 'blind-spots' where are several cameras installed. The lack of visual information when operating in a cluttered environment makes manoeuvering a manipulator very difficult and when this situation is exacerbated by strict time limits for a task completion, then a manipulator and environmental collisions and resultant damage can occur. To cope with these problems, there has been efforts to develop a virtual simulator to validate control programs visually and to establish maintainability-engineering tools that automate generation assembly/disassembly procedures by using Computer Aided Design(CAD) visualization systems with human figure models to virtual reality systems where engineers can interact with the system using virtual input devices. This article introduces a system that can simulate a deployment analysis on a digital mock-up effectively and proposes a scheme to enable an operator to improve a remote manipulation by using a haptic device

Transfer system development for a remote inspection robot in nuclear power plants

International Nuclear Information System (INIS)

Mizuno, M.; Ohnuma, M.; Hamada, K.; Mizutani, T.; Shimada, A.; Segawa, M.; Kubo, K.

1984-01-01

A remote operated robot system has been developed for inspection inside the primary containment vessel (PCV) of nuclear power plants. This system consists of an inspection vehicle, a monorail driving system, a signal transmission system, a power supply system and an operator console.. The system has two main features. First is that the operator can transfer the vehicle at any time from outside the PCV to inside or vice versa through a personnel airlock. The second feature is that the vehicle can be transported from one inspection route to another route at junction points. A prototype inspection robot system was fabricated on a trial basis. Running and inspection performances were confirmed utilizing actual size test apparatus

Remote handling in ZEPHYR

International Nuclear Information System (INIS)

Andelfinger, C.; Lackner, E.; Ulrich, M.; Weber, G.; Schilling, H.B.

1982-04-01

A conceptual design of the ZEPHYR building is described. The listed radiation data show that remote handling devices will be necessary in most areas of the building. For difficult repair and maintenance works it is intended to transfer complete units from the experimental hall to a hot cell which provides better working conditions. The necessary crane systems and other transport means are summarized as well as suitable commercially available manipulators and observation devices. The conept of automatic devices for cutting and welding and other operations inside the vacuum vessel and the belonging position control system is sketched. Guidelines for the design of passive components are set up in order to facilitate remote operation. (orig.)

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

Energy Technology Data Exchange (ETDEWEB)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2016-10-15

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control.

Nonlinear Control of Hydraulic Manipulator for Decommissioning Nuclear Reactor

International Nuclear Information System (INIS)

Kim, Myoung-Ho; Lee, Sung-Uk; Kim, Chang-Hoi; Choi, Byung-Seon; Moon, Jei-Kwon

2016-01-01

Robot technique is need to decommission nuclear reactor because of high radiation environment. Especially, Manipulator systems are useful for dismantling complex structure in a nuclear facility. In addition, Hydraulic system is applied to handle heavy duty object. Since hydraulic system can demonstrate high power. The manipulator with hydraulic power is already developed. To solve this problem, various nonlinear control method includes acceleration control. But, it is difficult because acceleration value is highly noisy. In this paper, the nonlinear control algorithm without acceleration control is studied. To verify, the hydraulic manipulator model had been developed. Furthermore, the numerical simulation is carried out. The nonlinear control without acceleration parameter method is developed for hydraulic manipulator. To verify control algorithm, the manipulator is modeled by MBD and the hydraulic servo system is also derived. In addition, the numerical simulation is also carried out. Especially, PID gain is determined though TDC algorithm. In the result of numerical simulation, tracking performance is good without acceleration control. Thus, the PID though TDC with SMC is good for hydraulic manipulator control

Remote systems and remote maintenance of a reprocessing plant in Japan

International Nuclear Information System (INIS)

Funaya, T.

1977-01-01

The design concept and overall maintenance philosophy applied in the Power Reactor and Nuclear Fuel Development Corporation Reprocessing Plant at Tokai-mura, Japan, are briefly introduced. Details on remote systems and remote maintenance in mechanical processing areas are described

Developing remote techniques for liquid metal reactors

International Nuclear Information System (INIS)

Fenemore, Peter

1987-01-01

Three devices have been designed in Britain to meet the need for special remote equipment and techniques required to inspect the reactor vessel and internals of liquid metal reactors. The ''Links Manipulator Under-Sodium Viewing System'' - a device to be used for the surveillance of reactor internals, which are submerged in sodium. An ''Automatic Guided Vehicle'' - a free roving vehicle to be used to survey the externals of the reactor vessel. The ''Snake Manipulator'' - an articulated arm used to gain access to restricted areas. (author)

Dismantling of JPDR reactor internals by underwater plasma arc cutting technique using robotic manipulator

International Nuclear Information System (INIS)

Yokota, M.

1988-01-01

The actual dismantling of JPDR started on December 4, 1986. As of now, equipment that surrounds the reactor has mostly been removed to provide working space in reactor containment prior to the dismantling of reactor internals. Some reactor internals have been successfully dismantled using the underwater arc cutting system with a robotic manipulator during the period of January to March 1988. The cutting system is composed of an underwater plasma arc cutting device and a robotic manipulator. The cut off reactor internals were core spray block, feedwater sparger and stabilizers for fuel upper grid tube. The plasma arc cutting device was developed to dismantle the reactor internals underwater. It mainly consists of a plasma torch, power and gas supply systems for the torch, and by-product treatment systems. It has the cutting ability of 130 mm thickness stainless steel underwater. The robotic manipulator has seven degrees of freedom of movement, enabling it to move in almost the same way as the arm of a human being. The arm of the robot is mounted on a supporting device which is suspended by three chains from the support structure set on a service floor. A plasma torch is griped by the robotic hand; its position to the structure to be cut is controlled from a remote control room, about 100 meters outside the reactor containment

Current status of research and development on remote maintenance for fusion components

International Nuclear Information System (INIS)

Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Shibanuma, Kiyoshi

2008-01-01

There is a growing attention to remote maintenance of nuclear fusion reactors. Remote maintenance is planned in ITER tokamak to keep the health of in-vessel components like blankets and divertors. In this article, current status of the development in the remote maintenance equipments and methods, especially for ITER tokamak are reviewed. The newly developed vehicle type and boom type maintenance devices, manipulator, and transfer cask are illustrated. (J.P.N.)

Network communication for remote technology and NDT controls on current nuclear power plants

International Nuclear Information System (INIS)

Capitaine, A.

2001-01-01

Among the most important targets for ''UTILITIES'' are to increase nuclear power plant availability and reduce the workers dosimetry. A possible way to reach these targets is to reduce the duration of the refueling period and to limit the number of operators in the work areas It is necessary to use remote technology and to provide much equipment to support the main activities during refueling. Remote technology is a possible solution to remove operators from the maintenance area. The main activities concerned are the NDT inspection on the primary components and fuel handling system. Recent progress on remote technology made by the electronic industry and network communication has increased their capacities. It is easier now to use them, and more and more people are familiar with these technologies. Internet, manufacturing, supervision, and surgery use these technologies. Now it seems appropriate to examine these technologies for current maintenance in nuclear plants. Remote technologies and communication network can help to solve current difficulties in the maintenance field and dosimetry limits. For a long time, many people thought that the cost and the difficulty of applying new technologies would be not extremely expensive, but this is no longer the case. Now with the first feed back we can show that these technologies are a good answer for increased availability and reduction of dosimetry. (author)

Network communication for remote technology and NDT controls on current nuclear power plants

Energy Technology Data Exchange (ETDEWEB)

Capitaine, A. [Electricite de France, 92 - Clamart (France). Service Etudes et Projets Thermiques et Nucleaires

2001-07-01

Among the most important targets for ''UTILITIES'' are to increase nuclear power plant availability and reduce the workers dosimetry. A possible way to reach these targets is to reduce the duration of the refueling period and to limit the number of operators in the work areas It is necessary to use remote technology and to provide much equipment to support the main activities during refueling. Remote technology is a possible solution to remove operators from the maintenance area. The main activities concerned are the NDT inspection on the primary components and fuel handling system. Recent progress on remote technology made by the electronic industry and network communication has increased their capacities. It is easier now to use them, and more and more people are familiar with these technologies. Internet, manufacturing, supervision, and surgery use these technologies. Now it seems appropriate to examine these technologies for current maintenance in nuclear plants. Remote technologies and communication network can help to solve current difficulties in the maintenance field and dosimetry limits. For a long time, many people thought that the cost and the difficulty of applying new technologies would be not extremely expensive, but this is no longer the case. Now with the first feed back we can show that these technologies are a good answer for increased availability and reduction of dosimetry. (author)

Feasibility study on use of virtual collaborator for remote NPP control

International Nuclear Information System (INIS)

Kim, Jong Hyun; Lee, Seung Jun; Seong, Poong Hyun

2001-01-01

In this paper, we study the feasibility of Virtual Collaborator for Remote NPP Control as long-term research theme. And we present similar and related researches that are fulfilled at I and C laboratory in nuclear department of KAIST. Yoshikawa's laboratory, Kyoto University in Japan, is developing 'virtual collaborator', agent robot, which realized in virtual reality. Virtual Collaborator is a new type of human-machine interface which works as 'intelligent interface agent' to help machine operators manipulating large scale machine system such as power plant. The Virtual Collaborator is a sort of 'virtual robot' which behaves as if an intelligent agent robot in virtual space, who can communicate naturally with human like humans do with each other

The application of manipulator robot for nuclear plant maintenance

International Nuclear Information System (INIS)

Kohata, Yukifumi; Fujita, Jun; Onishi, Ken; Tsuhari, Hiroyuki; Hosoe, Fumihiro

2010-01-01

In the maintenance works at nuclear power plant, robots are used because of high radiation, narrow space and underwater work. Various robots are needed because there is various maintenance works. This is inefficiency. As the solutions, we developed manipulator robots for the access of specialized tools. This study shows manipulator robots developed by MHI, application example to maintenance works and effectiveness of manipulator robots. When robotization of maintenance works are considered, manipulator technology is very effective solution means. We achieved efficiency improvement and the reliability improvement by developing a high generality manipulator. (author)

Development of remote handling technology for nuclear fuel cycle facilities in Japan

International Nuclear Information System (INIS)

Maekawa, Hiromichi; Sakai, Akira; Miura, Noriaki; Kozaka, Tetsuo; Hamada, Takashi

2015-01-01

and two bilateral servo-manipulators and ITV (Industrial Television) systems for monitoring are installed for Maintenance and also Operation in the cell. These cranes and manipulators are mounted on the bridge to ensure the wide range of operations in the cell and also designed to be remotely maintained themselves by each other. In case of K-facility (active tests stated in 2007) the operating experiences at TVF were reflected to make some improvements on its remote handling system in order to ensure the availability and reduce the cost. There adopted the unilateral servo-manipulator and the auxiliary hoist with remote operation support system, the rack module design for periodically replaced components, and the direct contact maintenance for the in cell cranes and manipulators in the shielded parking space. The glass melter in the vitrification process is designed to be replaced every 5 years, so the remote replacement and dismantling technology for the spent melters have been also developed and installed in TVF and K-facility for 40 years’ operation. This paper describes our development experiences on the design, construction, operation, and maintenance of the remote handling systems in nuclear fuel cycle facilities in Japan. (author)

Fuel cell power systems for remote applications. Phase 1 final report and business plan

Energy Technology Data Exchange (ETDEWEB)

NONE

1998-02-01

The goal of the Fuel Cell Power Systems for Remote Applications project is to commercialize a 0.1--5 kW integrated fuel cell power system (FCPS). The project targets high value niche markets, including natural gas and oil pipelines, off-grid homes, yachts, telecommunication stations and recreational vehicles. Phase 1 includes the market research, technical and financial analysis of the fuel cell power system, technical and financial requirements to establish manufacturing capability, the business plan, and teaming arrangements. Phase 1 also includes project planning, scope of work, and budgets for Phases 2--4. The project is a cooperative effort of Teledyne Brown Engineering--Energy Systems, Schatz Energy Research Center, Hydrogen Burner Technology, and the City of Palm Desert. Phases 2 through 4 are designed to utilize the results of Phase 1, to further the commercial potential of the fuel cell power system. Phase 2 focuses on research and development of the reformer and fuel cell and is divided into three related, but potentially separate tasks. Budgets and timelines for Phase 2 can be found in section 4 of this report. Phase 2 includes: Task A--Develop a reformate tolerant fuel cell stack and 5 kW reformer; Task B--Assemble and deliver a fuel cell that operates on pure hydrogen to the University of Alaska or another site in Alaska; Task C--Provide support and training to the University of Alaska in the setting up and operating a fuel cell test lab. The Phase 1 research examined the market for power systems for off-grid homes, yachts, telecommunication stations and recreational vehicles. Also included in this report are summaries of the previously conducted market reports that examined power needs for remote locations along natural gas and oil pipelines. A list of highlights from the research can be found in the executive summary of the business plan.

Immersive vision assisted remote teleoperation using head mounted displays

International Nuclear Information System (INIS)

Vakkapatla, Veerendrababu; Singh, Ashutosh Pratap; Rakesh, V.; Rajagopalan, C.; Murugan, S.; Sai Baba, M.

2016-01-01

Handling and inspection of irradiated material is inevitable in nuclear industry. Hot cells are shielded radiation containment chambers equipped with master slave manipulators that facilitates remote handling. The existing methods using viewing windows and cameras for viewing the contents of hot cell to manipulate the radioactive elements have problems such as optical distortion, limited distance teleoperation, limited field of view that lead to inefficient operation. This paper presents a method of achieving immersive teleoperation to operate the master slave manipulator in hot cells by exploiting the advanced tracking and display capabilities of head mounted display devices. (author)

Trends in remote handling device development

International Nuclear Information System (INIS)

Raimondi, T.

1991-01-01

A brief review is given of studies on layouts and methods for handling some major components requiring remote maintenance in future fusion reactors: Neutral sources and beam lines, the blanket, divertor plates, armour tiles and vacuum pumps. Comparison is made to problems encountered in JET, methods and equipment used and development work done there. Areas requiring development and research are outlined. These include topics which are the subject of papers presented here, such as dynamic studies and control of transporters, improvements to the man-machine interface and hot cell equipment. A variety of other topics where effort is needed are also mentioned: Environmental tolerance of components and equipment, TV viewing and compensation of viewing difficulties with aids such as computer graphics and image processing, safety assessment, computer aids for remote manipulation, remote cutting and welding techniques, routine in-vessel inspection methods and selection of connectors and flanges for remote handling. (orig.)

Remote maintenance for a new generation of hot cells

International Nuclear Information System (INIS)

Feldman, M.J.; Grant, N.R.

1987-01-01

For several years the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory has been developing facility concepts, designing specialized equipment, and testing prototypical hardware for reprocessing spent fuel from fast breeder reactors. The major facility conceptual design, the Hot Experimental Facility, was based on total remote maintenance to increase plant availability and to reduce radiation exposure. This thrust included designing modular equipment to facilitate maintenance and the manipulation necessary to accomplish maintenance. Included in the design repetoire was the development effort in advanced servomanipulator systems, a remote sampling system, television viewing, and a transporter system, television viewing, and a transporter for manipulator positioning. Demonstration of these developed items is currently ongoing, and the technology is available for applications where production operations in highly radioactive environments are required

User Interface Technology to Reduce Mental Transformations for Tangible Remote Dismantling Simulator

Energy Technology Data Exchange (ETDEWEB)

Hyun, Dongjun; Kim, Ikjune; Lee, Jonghwan; Kim, Geun-Ho; Jeong, Kwan-Seong; Choi, Byung-Seon; Moon, Jeikwon; Choi, Jong-Won [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

2015-10-15

High-level radiation of the major components restricts access by human workers, and makes an accident or outage during the dismantling process more difficult to deal with. Since unexpected situations causes waste of budget and an aggravation of safety, the preliminary verification of the dismantling processes and equipment by the tangible remote dismantling simulator is very important. The design optimization of the dismantling processes and equipment is one of the most important objectives of the tangible remote dismantling simulator, as well. This paper proposes a user interface technology to reduce mental transformations for the tangible remote dismantling simulator. At the dismantling process simulation using the tangible remote dismantling simulator, the most difficult work is the remote operation handling the high degrees-of-freedom (DOF) manipulator due to complex mental transformations. The proposed user interface technology reduces mental transformations with constraints using the point projection and direction projection. The test result of the cutting process over the closure head of the RPV demonstrates that the proposed mental transformation reduction technology is operated successfully in the tangible remote dismantling simulator, and lets the operator be easy to control the high DOF manipulator even in the most difficult operation by reducing DOFs to be controlled manually.

User Interface Technology to Reduce Mental Transformations for Tangible Remote Dismantling Simulator

International Nuclear Information System (INIS)

Hyun, Dongjun; Kim, Ikjune; Lee, Jonghwan; Kim, Geun-Ho; Jeong, Kwan-Seong; Choi, Byung-Seon; Moon, Jeikwon; Choi, Jong-Won

2015-01-01

High-level radiation of the major components restricts access by human workers, and makes an accident or outage during the dismantling process more difficult to deal with. Since unexpected situations causes waste of budget and an aggravation of safety, the preliminary verification of the dismantling processes and equipment by the tangible remote dismantling simulator is very important. The design optimization of the dismantling processes and equipment is one of the most important objectives of the tangible remote dismantling simulator, as well. This paper proposes a user interface technology to reduce mental transformations for the tangible remote dismantling simulator. At the dismantling process simulation using the tangible remote dismantling simulator, the most difficult work is the remote operation handling the high degrees-of-freedom (DOF) manipulator due to complex mental transformations. The proposed user interface technology reduces mental transformations with constraints using the point projection and direction projection. The test result of the cutting process over the closure head of the RPV demonstrates that the proposed mental transformation reduction technology is operated successfully in the tangible remote dismantling simulator, and lets the operator be easy to control the high DOF manipulator even in the most difficult operation by reducing DOFs to be controlled manually

State of the art in design and control of master-slave manipulators

International Nuclear Information System (INIS)

Kim, Ki Ho; Kim, Seung Ho; Kim, Byung Soo; Kim, Chang Hoi; Jung, Seung Ho; Kwang, Suk Yeoung; Seo, Yong Chil; Lee, Young Kwang

1998-03-01

The use of remotely operated robots and other mechanical devices as replacements of human workers in hazardous environments is a growing field of research. In particular, master-slave manipulators have been extensively used in the nuclear industries governed by the ALARA principle for more than four decades. There, however, are still few successful implementations of complex and high degree-of-freedom systems. The master manipulator is an input device which interfaces with the human operator on one side and with the slave manipulator on the other. Bilateral force-reflecting control plays a key supporting role in successful dexterous manipulation of the master-slave manipulators. Great increase in performance of the master-slave manipulator system can be achieved through good design of mechanical hardware and proper implementation of the embedded control strategies. This report presents some of design issues relevant to designers of the master manipulator as man-machine interface device in the master-slave manipulator system. Significant design parameters for both the replica and universal master manipulators are evaluated. In addition, the report describes the various control schemes of the bilateral force-reflecting master-slave manipulators, discusses the analysis and synthesis of the control loop between the master and slave manipulators, and examines the necessary position and force information on both sides. (author). 80 refs., 2 tabs., 15 figs

Prototype Combined Heater/Thermoelectric Power Generator for Remote Applications

Science.gov (United States)

Champier, D.; Favarel, C.; Bédécarrats, J. P.; Kousksou, T.; Rozis, J. F.

2013-07-01

This study presents a prototype thermoelectric generator (TEG) developed for remote applications in villages that are not connected to the electrical power grid. For ecological and economic reasons, there is growing interest in harvesting waste heat from biomass stoves to produce some electricity. Because regular maintenance is not required, TEGs are an attractive choice for small-scale power generation in inaccessible areas. The prototype developed in our laboratory is especially designed to be implemented in stoves that are also used for domestic hot water heating. The aim of this system is to provide a few watts to householders, so they have the ability to charge cellular phones and radios, and to get some light at night. A complete prototype TEG using commercial (bismuth telluride) thermoelectric modules has been built, including system integration with an electric DC/DC converter. The DC/DC converter has a maximum power point tracker (MPPT) driven by an MC9SO8 microcontroller, which optimizes the electrical energy stored in a valve-regulated lead-acid battery. Physical models were used to study the behavior of the thermoelectric system and to optimize the performance of the MPPT. Experiments using a hot gas generator to simulate the exhaust of the combustion chamber of a stove are used to evaluate the system. Additionally, potential uses of such generators are presented.

Eddy Covariance Measurements of Methane Flux at Remote Sites with New Low-Power Lightweight Fast Gas Analyzer

Science.gov (United States)

Xu, Liukang; Burba, George; Schedlbauer, Jessica; Zona, Donatella; McDermitt, Dayle K.; Anderson, Tyler; Oberbauer, Steven; Oechel, Walter; Komissarov, Anatoly; Riensche, Brad

2010-05-01

Majority of natural methane production happens at remote unpopulated areas in ecosystems with little or no infrastructure or easily available grid power, such as arctic and boreal wetlands, tropical mangroves, etc. Present approaches for direct measurements of CH4 fluxes rely on fast closed-path analyzers, which have to work under significantly reduced pressures, and require powerful pumps and grid power. Power and labor demands may be reasons why CH4 flux is often measured at locations with good infrastructure and grid power, and not with high CH4 production. An instrument was developed to allow Eddy Covariance measurements of CH4 flux with power consumption 30-150 times below presently available technologies. This instrument, LI-7700, uses proposed extremely low-power technology would allows placing methane Eddy Covariance stations in the middle of the source (wetland, rice paddy, forest, etc.) in the absence of the grid power. This could significantly expand the Eddy Covariance CH4 flux measurements coverage, and possibly, significantly improve the budget estimates of world CH4 emissions and budget. Various prototypes of the LI-7700 were field-tested for three seasons at the remote site in middle of Everglades National Park (Florida, USA) using solar panels, at three stationary and several mobile sites during three seasons at remote Arctic wetlands near Barrow (Alaska, USA), in the tropical mangroves near La Paz (Mexico) using portable generator, and in bare agricultural field near Mead (Nebraska, USA) during 2005 through 2010. Latest data on CH4 concentration, co-spectra and fluxes, and latest details of instrumental design are examined in this presentation. Overall, hourly methane fluxes ranged from near-zero at night to about 4 mg m-2 h-1 in midday in arctic tundra. Observed fluxes were within the ranges reported in the literature for a number of wetlands in North America, including the Everglades wetlands. Diurnal patterns were similar to those measured by

Electromechanical three-axis development for remote handling in the Hot Experimental Facility

International Nuclear Information System (INIS)

Garin, J.; Bolfing, B.J.; Satterlee, P.E.; Babcock, S.M.

1981-01-01

A three-axis closed-loop position control system has been designed and installed on an overhead bridge, carriage, tube hoist for automotive positioning of manipulation at a remotely maintained work site. The system provides accurate (within 3 min) and repeatable three-axis positioning of the manipulator. The position control system has been interfaced to a supervisory minicomputer system that provides teach-playback capability of manipulator positioning and color graphic display of the three-axis system position

18 CFR 1c.1 - Prohibition of natural gas market manipulation.

Science.gov (United States)

2010-04-01

... 18 Conservation of Power and Water Resources 1 2010-04-01 2010-04-01 false Prohibition of natural gas market manipulation. 1c.1 Section 1c.1 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.1...

18 CFR 1c.2 - Prohibition of electric energy market manipulation.

Science.gov (United States)

2010-04-01

... 18 Conservation of Power and Water Resources 1 2010-04-01 2010-04-01 false Prohibition of electric energy market manipulation. 1c.2 Section 1c.2 Conservation of Power and Water Resources FEDERAL ENERGY REGULATORY COMMISSION, DEPARTMENT OF ENERGY GENERAL RULES PROHIBITION OF ENERGY MARKET MANIPULATION § 1c.2...

Remote handling and automation in back end of fuel cycle

International Nuclear Information System (INIS)

Nair, K.N.S.

2010-01-01

Full text: Indian nuclear programme is readying for a quantum leap and it is essential that technology is available for building advanced fuel recycle plants in the back end and for sustained operation of such plants. Remote technology and automation plays a big role to achieve this goal. With the introduction of advanced fuel cycles in indigenous programme and scenario of international cooperation it is essential to be ready with indigenous technology for meeting all challenges. Work has been progressing to develop locally support technology for remote handling and automation with good success. Essential RH tools such as master slave manipulators, power manipulators and hot cell viewing systems have been developed and commercial production has been established. Customised RH requirements for back end plants have been met and the designs have proven to be worthy for hot operations over the years. In the last few years stress has been on development of equipment and technology to meet the increasing demands of higher throughput plants. Substantial progress has been achieved in the head end and reconversion laboratory systems of reprocessing plants. Similarly successful efforts have also been made for establishing Thoria processing cells and also the RH in the reconversion operations. Custom designed equipment has been developed for decommissioning of ceramic melter, used glove boxes etc. Efforts are on hand to develop automated RH equipment for material handling in underground repositories. This paper aims at bringing out the theme based on some of our own experiences and some reports from plants in operation abroad. (author)

Low-cost storage options for solar hydrogen systems for remote area power supply

International Nuclear Information System (INIS)

Suhaib Muhammad Ali; John Andrews

2006-01-01

Equipment for storing hydrogen gas under pressure typically accounts for a significant proportion of the total capital cost of solar-hydrogen systems for remote area power supply (RAPS). RAPS remain a potential early market for renewable energy - hydrogen systems because of the relatively high costs of conventional energy sources in remote regions. In the present paper the storage requirements of PV-based solar-hydrogen RAPS systems employing PEM electrolysers and fuel cells to meet a range of typical remote area daily and annual demand profiles are investigated using a spread sheet-based simulation model. It is found that as the costs of storage are lowered the requirement for longer-term storage from summer to winter is increased with consequent potential gains in the overall economics of the solar-hydrogen system. In many remote applications, there is ample space for hydrogen storages with relatively large volumes. Hence it may be most cost-effective to store hydrogen at low to medium pressures achievable by using PEM electrolysers directly to generate the hydrogen at the pressures required, without a requirement for separate electrically-driven compressors. The latter add to system costs while requiring significant parasitic electricity consumption. Experimental investigations into a number of low-cost storage options including plastic tanks and low-to-medium pressure metal and composite cylinders are reported. On the basis of these findings, the economics of solar-hydrogen RAPS systems employing large-volume low-cost storage are investigated. (authors)

Pyroprocess Deployment Analysis and Remote Accessibility Experiment using Digital Mockup and Simulation

International Nuclear Information System (INIS)

Kim, K. H.; Park, H. S.; Kim, S. H.; Choi, C. H.; Lee, H. J.; Park, B. S.; Yoon, G. S.; Kim, K. H.; Kim, H. D.

2009-11-01

Nuclear fuel cycle facility that treats with spent fuel must be designed and manufactured a Pyroprcess facility and process with considering a speciality as every process have to be processed remotely. To prevent an unexpected accident under a circumstance that must operate with a remote manipulator after done the Pyroprocess facility, an procedure related Pyroprocess operation and maintenance need to establish it in the early design stage. To develop the simulator that is mixed by 3D modelling and simulation, a system architecture was designed. A full-scale digital mockup with a real pyroprocess facility was designed and manufactured. An inverse kinematics algorithm of remote manipulator was created in order to simulate an accident and repair that could happen in pyroprocess operation and maintenance under a virtual digital mockup environment. Deployment analysis of process devices through a workspace analysis was carried out and Accessibility analysis by using haptic device was examined

Potential application of nuclear remote-handling technology to underwater inspection and maintenance

International Nuclear Information System (INIS)

Eccleston, M.J.

1990-01-01

Examples are given of remote handling equipment developed within the nuclear industry and employing telemanipulative or telerobotic principles. In telerobotics the nuclear industry has been following a trend towards increased levels of autonomy, delegating operator control to a computer, for example, in resolved rate manipulator tip control, teach-and-repeat control and collision avoidance. Illustrations are presented of remote-handling techniques from the nuclear industry which may be carried over into undersea remote inspection, maintenance and repair systems. (author)

A comparison of two systems for lunar surface remote and mobile power applications

International Nuclear Information System (INIS)

Determan, W.R.; Otting, W.D.; Hunt, M.E.

1993-01-01

The free piston Stirling engine (FPSE) is now being developed by Mechanical Technology Incorporated (MTI) and NASA-LeRC for space power applications. Some conceptualizations of an isotope powered FPSE have been proposed. The performance characteristics of the proposed 2.5-kWe Stirling Isotope Power (STIP) system were developed for lunar surface remote and mobile applications. The Stirling system configuration uses a nonredundant power conversion system coupled to an annular heat source assembly (HSA) using an array of sodium heat pipes which transfer energy from the annular general-purpose heat source (GPHS) stack within the HSA to the Stirling heater head. The Stirling engine uses a dual-opposed piston design with heater head coupling. The engine coolers are connected to a single-pumped coolant loop, which rejects the cycle's waste heat to a radiator. Quantitative information, such as mass, area, and efficiency, are reported for the system. The results of a qualitative evaluation of the proposed STIP system against the desirable attributes of a lunar-based isotope power system are presented. Alternate configurations are also presented

An integrated open-cavity system for magnetic bead manipulation.

Science.gov (United States)

Abu-Nimeh, F T; Salem, F M

2013-02-01

Superparamagnetic beads are increasingly used in biomedical assays to manipulate, transport, and maneuver biomaterials. We present a low-cost integrated system designed in bulk CMOS to manipulate and separate biomedical magnetic beads. The system consists of 8 × 8 coil-arrays suitable for single bead manipulation, or collaborative multi-bead manipulation, using pseudo-parallel executions. We demonstrate the flexibility of the design in terms of different coil sizes, DC current levels, and layout techniques. In one array module example, the size of a single coil is 30 μm × 30 μm and the full array occupies an area of 248 μm × 248 μm in 0.5 μm CMOS technology. The programmable DC current source supports 8 discrete levels up to 1.5 mA. The total power consumption of the entire module is 9 mW when running at full power.

Remote handling in reprocessing plants

International Nuclear Information System (INIS)

Streiff, G.

1984-01-01

Remote control will be the rule for maintenance in hot cells of future spent fuel reprocessing plants because of the radioactivity level. New handling equipments will be developed and intervention principles defined. Existing materials, recommendations for use and new manipulators are found in the PMDS' documentation. It is also a help in the choice and use of intervention means and a guide for the user [fr

Development and verification test on remote plasma cutting of large metallic waste

International Nuclear Information System (INIS)

Ozawa, Tamotsu; Yamada, Kunitaka; Abe, Tadashi

1979-01-01

Plasma cutting is the cutting method to melt and scatter cut objects by generating arc between an electrode in a nozzle and the cut objects and making working gas fed to surround it into high temperature, high speed plasma jet. In case of remote plasma cutting, a torch for the plasma cutting is operated remotely with a manipulator from the outside of a cell. At the time of planning the method of breaking up solid wastes, the type of cutting machines and the method of remote operation of the cutting machines and cut objects were examined. It was decided to adopt plasma cutting machines, because their cutting capability such as materials, thickness and cutting speed is excellent, and the construction and handling are simple. The form of the solid wastes to be cut is not uniform, accordingly the method of manipulator operation was adopted to respond to various forms flexibly. Cut objects are placed on a turntable to change the position successively. In case of remote plasma cutting, the controls of torch speed and gap must be made with a manipulator. The use of light-shielding glasses reduces largely the watchability of cut objects and becomes hindrance in the operation. As for the safety aspect, the suitable gas for cutting, which does not contain hydrogen, must be selected. The tests carried out for two years since November, 1977, are reported in this paper, and most of the problems have been solved. (Kako, I.)

Use of remote visual in-service inspection on nuclear power plants of the CEGB

International Nuclear Information System (INIS)

James, D.W.

1985-01-01

The main responsibility of the Remote Inspection Group is the design, development and procurement of the remote visual inspection equipment provided by the Generation Development and Construction Division as part of the extent of the supply for all the Central Electricity Generating Board's (CEGB) advanced gas-cooled reactors (AGR). The paper describes the operation of this equipment, together with the low light-level TV cameras that have been developed for carrying out routine remote visual inspections. The camera, known as the television remote inspection unit multi-purpose head (TRIUMPH), has been designed as a series of modules. With this system it is possible to take advantage of improvements in a particular part of the camera system and to arrange to backfit an improved module to existing TRIUMPHs. To minimize the time for carrying out routine inspections during shutdown, the AGRs have been provided with storage training and test facilities. These facilities are provided with full size mock-ups of the reactor internals so that the inspection equipment can be tested and the operating staff trained before the equipment is used on the reactor. One of the other responsibilities of the Remote Inspection Group is to carry out specific power plant remote visual inspections which are required to minimize costly plant shutdowns and construction delays. Examples are given of successful inspections that have been carried out. Over 12 years' experience has now been obtained in carrying out, at short notice, difficult inspections which involve tortuous access routes. The CEGB now holds a wide range of fibrescope and small TV cameras, together with the equipment for placing the viewing device in the correct location. A number of special fibrescopes have been developed for specific inspection needs and details of these, together with other fibrescopes owned by the CEGB, are provided. (author)

Remote Monitoring of Near-Surface Soil Moisture Dynamics In Unstable Slopes Using a Low-Power Autonomous Resistivity Imaging System

Science.gov (United States)

Chambers, J. E.; Meldrum, P.; Gunn, D.; Wilkinson, P. B.; Uhlemann, S.; Swift, R. T.; Kuras, O.; Inauen, C.; Hutchinson, D.; Butler, S.

2016-12-01

ERT monitoring has been demonstrated in numerous studies as an effective means of imaging near surface processes for applications as diverse as permafrost studies and contaminated land assessment. A limiting factor in applying time-lapse ERT for long-term studies in remote locations has been the availability of cost-effective ERT measurement systems designed specifically for monitoring applications. Typically, monitoring is undertaken using repeated manual data collection, or by building conventional survey instruments into a monitoring setup. The latter often requires high power and is therefore difficult to operate remotely without access to mains electricity. We describe the development of a low-power resistivity imaging system designed specifically for remote monitoring, taking advantage of, e.g., solar power and data telemetry. Here, we present the results of two field deployments. The system has been installed on an active railway cutting to provide insights into the effect of vegetation on the moisture dynamics in unstable infrastructure slopes and to gather subsurface information for pro-active remediation measures. The system, comprising 255 electrodes, acquires 4596 reciprocal measurement pairs twice daily during standard operation. In case of severe weather events, the measurement schedule is reactively changed, to gather high temporal resolution data to image rainfall infiltration processes. The system has also been installed along a leaking and marginally stable canal embankment; a less favourable location for remote monitoring, with limited solar power and poor mobile reception. Nevertheless, the acquired data indicated the effectiveness of remedial actions on the canal. The ERT results showed that one leak was caused by the canal and fixed during remediation, while two other "leaks" were shown to be effects of groundwater dynamics. The availability of cost-effective, low-power ERT monitoring instrumentation, combined with an automated workflow of

The remote monitor and control system of power based on COM in HIRFL-CSR

International Nuclear Information System (INIS)

Liu Wufeng; Xu Yang; Li Guihua; Chinese Academy of Sciences, Beijing

2008-01-01

The design of power-system in HIRFL-CSR include two parts-design of hardware and software. We use COM module in this system to communicate message from Controlled devices to Front server's database, and communicate between web server and center Oracle database. This system makes the operators control devices remotely. And it also makes the data dealt with easily, saves the cost in realization of system. (authors)

Ex-vessel remote maintenance design for the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Spampinato, P.T.; Macdonald, D.

1987-01-01

The use of deuterium-tritium (D-T) fuel for operation of the Compact Ignition Tokamak (CIT) imposes a requirement for remote handling technology for ex-vessel maintenance operations on auxiliary machine components. These operations consist of repairing and replacing components such as diagnostic, radio-frequency (rf) heating, and fueling systems using remotely operated maintenance equipment in the test cell. In addition, ex-vessel maintenance design also includes developing hot cell facilities for equipment decontamination, repair, and solid radioactive waste handling. The test cell maintenance philosophy is markedly influenced by the neutron/gamma shield surrounding the machine that allows personal access into the test cell one day after shutdown. Hence, maintenance operations can be performed hands-on in the test cell with the shield intact and must be remotely performed when the shield is disassembled for machine access. The constricted access to the auxiliary components of the machine affect the design requirements for the maintenance equipment and impose major spatial constraints. Several major areas of the maintenance system design are being addressed in fiscal year 1987. These include conceptual design of the manipulator system, preliminary remote equipment research and development, and definition of the hot cell, decontamination, and equipment repair facility requirements. The manipulator work includes investigating transporters and viewing/lighting subsystems. 2 figs

Internet remote control interface for a multipurpose robotic arm

Directory of Open Access Journals (Sweden)

Matthew W. Dunnigan

2008-11-01

Full Text Available This paper presents an Internet remote control interface for a MITSUBISHI PA10-6CE manipulator established for the purpose of the ROBOT museum exhibition during spring and summer 2004. The robotic manipulator is a part of the Intelligent Robotic Systems Laboratory at Heriot ? Watt University, which has been established to work on dynamic and kinematic aspects of manipulator control in the presence of environmental disturbances. The laboratory has been enriched by a simple vision system consisting of three web-cameras to broadcast the live images of the robots over the Internet. The Interface comprises of the TCP/IP server providing command parsing and execution using the open controller architecture of the manipulator and a client Java applet web-site providing a simple robot control interface.

Development of a remote controlled robot system for monitoring nuclear power plant

Energy Technology Data Exchange (ETDEWEB)

Woo, Hee Gon; Song, Myung Jae; Shin, Hyun Bum; Oh, Gil Hwan; Maeng, Sung Jun; Choi, Byung Jae; Chang, Tae Woo [Korea Electric Power Research Institute, Taejon (Korea, Republic of); Lee, Bum Hee; Yoo, Jun; Choi, Myung Hwan; Go, Nak Yong; Lee, Kee Dong; Lee, Young Dae; Cho, Hae Kyeng; Nam, Yoon Suk [Electric and Science Research Center, (Korea, Republic of)

1996-12-31

It`s a final report of the development of remote controlled robot system for monitoring the facilities in nuclear power plant and contains as follows, -Studying the technologies in robot developments and analysing the requirements and working environments - Development of the test mobile robot system - Development of the mobile-robot - Development of the Mounted system on the Mobile robot - Development of the Monitoring system - Mobil-robot applications and future study. In this study we built the basic technologies and schemes for future robot developments and applications. (author). 20 refs., figs.

Research issues in implementing remote presence in teleoperator control

Science.gov (United States)

Corker, K.; Mishkin, A. H.; Lyman, J.

1981-01-01

The concept of remote presence in telemanipulation is presented. A conceptual design of a prototype teleoperator system incorporating remote presence is described. The design is presented in functional terms, sensor, display, and control subsystem. An intermediate environment, in which the human operator is made to feel present, is explicated. The intermediate environment differs from the task environment due to the quantity and type of information presented to an operator and due to scaling factors protecting the operator from the hazards of the task environment. Potential benefits of remote presence systems, both for manipulation and for the study of human cognition and preception are discussed.

Remotely replaceable fuel and feed nozzles for the NWCF calciner vessel

International Nuclear Information System (INIS)

Fletcher, R.D.; Carter, J.A.; May, K.W.

1978-01-01

The development and testing of remotely replaceable fuel and feed nozzles for calcination of liquid radioactive wastes in the calciner vessel of the New Waste Calcining Facility (NWCF) being built at the Idaho National Engineering Laboratory are described. A complete fuel nozzle assembly was fabricated and tested at the Remote Maintenance Development Facility to evolve design refinements, identify required support equipment, and develop handling techniques. The design also provided for remote replacement of the nozzle support carriage and adjacent feed and fuel pipe loops using two pairs of master-slave manipulators

Development of remote control decontamination machines for BWR nuclear power plants

International Nuclear Information System (INIS)

Miyakawa, Minoru; Nozawa, Katsuro; Yamada, Masuji; Mizutani, Takeshi; Onozuka, Kazuaki

1981-01-01

The dose rate of radiation on the surfaces of equipments and in rooms tends to increase as radioactive substances accumulate with the continuous operation of nuclear power stations. The decontamination works to remove radioactive substances are carried out to prevent the exposure of workers in the case of inspection and repair. In order to reduce the exposure of decontamination workers, to save labor and to shorten decontamination time, Chubu Electric Power Co., Inc., has developed the decontamination machines for the walls of reactor wells, the walls and bottoms of equipment pits, the internal surfaces of suppression chambers, and the internal surfaces of tanks. The decontamination machines have several remote-handling functions: (a) brushing up with sprinkling against complicate surface such as a wall with step, (b) vertical transfer of brushing position with sucking force, (c) sucking out slurries under the water of storage pool or inside the pressure-supression pool, (d) horizontal transfer of suction position with electric motors. (J.P.N.)

Cost estimation of a standalone photovoltaic power system in remote areas of Sarawak, Malaysia

International Nuclear Information System (INIS)

Jakhrani, A.Q.; Othman, A.K.; Rigit, A.R.H.; Samo, S.R.

2012-01-01

This paper aims to estimate the anticipated costs incurred from a standalone solar photovoltaic power system for the supply of electricity to the rural community in Sarawak, Malaysia. The life cycle cost analysis with net present value technique was employed for the evaluation of cost system. It was found that purchasing of solar photovoltaic components and the system installation cost will contribute 63% of the total investment and future anticipated costs will add to the remaining. Recurring cost will make 25% and components replacements 75% of future anticipated costs. It was discovered that the power generated from the solar photovoltaic system would be 38 times more expensive than electricity produced from the conventional sources. However, its installation in remote areas could be favourable where the grid-connected power supply is not accessible. (author)

MAESTRO, a hydraulic manipulator for maintenance and decommissioning applications

International Nuclear Information System (INIS)

Olivier David; Yvan Measson; Catherine Bidard; Christine Libersa

2006-01-01

Compared to electric technology payload of hydraulic manipulators is very high with respect to their volume and mass. However, due to their force control limitations they were usually disqualified for precise manipulation. CEA, in collaboration with CYBERNETIX developed a complete remote handling system around the advanced hydraulic robotic arm MAESTRO. Requirements and specifications of the system were defined according to the needs of decommissioning activities in existing nuclear facilities and maintenance scenarios of the next step fusion reactor ITER. Using TAO2000 CEA controller, CEA developed specific force control loops to improve the performances of the manipulator and reach a level where the MAESTRO can be used like a traditional tele-operation master/slave system with force feedback. The complete system is composed of a 2 m long 100 kg payload 6 degrees of freedom slave hydraulic manipulator. The manipulator is mounted on an embedded unit made of a 210 bars hydraulic power pack and a 10 kGy rad hardened slave controller. The master station is made of the new generation Virtuose V6D-40-40 master arm with its TAO2000 controller. The graphical supervisor Magritte gives the operator an additional interface to manage and monitor the system. Repetitive tasks like tool picking can therefore be left to the system while the operator keeps his concentration on the main task. Thanks to the collision detection algorithm, Magritte warns the operator when the tool or any part of the Maestro arm comes too close to a delicate unit. Operational experience gained through test campaigns was gathered in an upgrade study to propose a new version of the manipulator that successfully ran through a 1000 hour endurance test. Rad-hardened components were selected and tested in nuclear facilities. Attention was paid to provide a design in which contamination is easily removed and to ease the maintenance when performed by an operator in suit. To be quickly adapted to new tasks, the

On the economics of stand-alone renewable hybrid power plants in remote regions

International Nuclear Information System (INIS)

Petrakopoulou, Fontina

2016-01-01

Highlights: • Economic evaluation of three renewable hybrid power plants for off-grid operation. • The high electricity cost of remote regions increases the competitiveness of renewable energy. • The proposed plants are economically viable when compared to the existing situation. • The zero direct emissions of the plants constitute an additional advantage of the plants. - Abstract: In recent years ever more examples of regions that have managed to achieve or orientate themselves toward renewable energy sufficiency are emerging. However, actions to create energy autonomy are mainly the result of isolated activities and they are less driven from fully organized movements. In addition, total energy independence without the support of a centralized electrical grid is yet to be achieved. The objectives of this work are to investigate the associated costs of stand-alone renewable hybrid power plants on a Greek island and compare them to the cost of the currently used fossil-fuel-based conventional plant. The plants examined here are designed to fully cover the electricity needs of the island. Islands may face numerous energy problems and rely heavily on foreign and environmentally-harmful fuels. It is shown that the relatively high cost of electricity of such a remote region can increase the competitiveness and promote the wider incorporation of technologies based on renewable energy sources that may, in other cases, seem economically inferior to business-as-usual energy solutions.

A remotely-controlled locomotive IC driven by electrolytic bubbles and wireless powering.

Science.gov (United States)

Hsieh, Jian-Yu; Kuo, Po-Hung; Huang, Yi-Chun; Huang, Yu-Jie; Tsai, Rong-Da; Wang, Tao; Chiu, Hung-Wei; Wang, Yao-Hung; Lu, Shey-Shi

2014-12-01

A batteryless remotely-controlled locomotive IC utilizing electrolytic bubbles as propelling force is realized in 0.35 μm CMOS technology. Without any external components, such as magnets and on-board coils, the bare IC is wirelessly powered and controlled by a 10 MHz ASK modulated signal with RS232 control commands to execute movement in four moving directions and with two speeds. The receiving coil and electrolysis electrodes are all integrated on the locomotive chip. The experiment successfully demonstrated that the bare IC moved on the surface of an electrolyte with a speed up to 0.3 mm/s and change moving directions according to the commands. The total power consumptions of the chip are 207.4 μW and 180 μ W while the output electrolysis voltages are 2 V and 1.3 V, respectively.

Remote maintenance lessons learned on prototypical reprocessing equipment

International Nuclear Information System (INIS)

Kring, C.T.; Schrock, S.L.

1990-01-01

A major objective of the Consolidated Fuel Reprocessing Program at the Oak Ridge National Laboratory is to develop and demonstrate the technology required to reprocess spent nuclear fuel. The Fuel Recycle Division, over the past 16 years, has undertaken this objective by designing and testing prototypical hardware representing essentially every major equipment item currently included in most fuel reprocessing plant conceptual designs. These designs are based on total remote maintenance to increase plant availability and reduce radiation exposure to plant operators. The designs include modular equipment to facilitate maintainability and the remote manipulation necessary to accomplish maintenance tasks. Prototypic equipment has been installed and tested in a cold mock-up of a reprocessing hot cell, called the remote operations and maintenance demonstration facility. The applied maintenance concept utilizes the dexterity and mobility of bridge-mounted, force-reflecting servomanipulators. Prototypic processing equipment includes a remote disassembly system, a remote shear system, a rotary dissolver, a remote automated sampler system, removable equipment racks to support chemical process equipment items, and the advanced servomanipulators. Each of these systems and a brief description of functions are discussed

An integrated nuclear reactor unit for a floating low capacity nuclear power plant designed for power supply in remote areas with difficult access

International Nuclear Information System (INIS)

Achkasov, A.N.; Grechko, G.I.; Gladkov, O.G.; Pavlov, V.L.; Pepa, V.N.; Shishkin, V.A.

1997-01-01

The paper describes the conceptual design of an integrated advanced safety nuclear reactor unit for a low capacity floating, NPP designed for power supply in areas which are remote with difficult access. The paper describes the major structural and lay-out components of the steam generator and reactor units with main technical characteristics. (author)

Remote handling devices for use behind shielding walls. Master-slave manipulators with three pivots, dimensions

International Nuclear Information System (INIS)

1993-08-01

The standardized general dimensions as recommended in this standard will facilitate the planning and construction of shielding rooms in which master-slave manipulators as specified in this standard are to be used, as well as the interchangeability of these instruments. It will also help to shorten the time of delivery in the initial supply of maser-slave manipulators for these rooms and in the supply of replacement parts. (orig.) [de

Task based synthesis of serial manipulators

Directory of Open Access Journals (Sweden)

Sarosh Patel

2015-05-01

Full Text Available Computing the optimal geometric structure of manipulators is one of the most intricate problems in contemporary robot kinematics. Robotic manipulators are designed and built to perform certain predetermined tasks. There is a very close relationship between the structure of the manipulator and its kinematic performance. It is therefore important to incorporate such task requirements during the design and synthesis of the robotic manipulators. Such task requirements and performance constraints can be specified in terms of the required end-effector positions, orientations and velocities along the task trajectory. In this work, we present a comprehensive method to develop the optimal geometric structure (DH parameters of a non-redundant six degree of freedom serial manipulator from task descriptions. In this work we define, develop and test a methodology to design optimal manipulator configurations based on task descriptions. This methodology is devised to investigate all possible manipulator configurations that can satisfy the task performance requirements under imposed joint constraints. Out of all the possible structures, the structures that can reach all the task points with the required orientations are selected. Next, these candidate structures are tested to see whether they can attain end-effector velocities in arbitrary directions within the user defined joint constraints, so that they can deliver the best kinematic performance. Additionally least power consuming configurations are also identified.

Review of inspection of Torness reactor internals using remote techniques

International Nuclear Information System (INIS)

Dynan, J.

1993-01-01

Inspection of reactor internals is increasingly being achieved by deployment of cameras into areas of sometimes high radiation fields using manipulators. The manipulators have been developed over a number of years and from a variety of sources and those provided at Torness can maybe be seen to be the state of the art development of such machines for AGRS. Torness and Heysham 2 reactors were specifically designed for inspection using remote techniques and special facilities have been provided for this purpose. This paper is written by an operator and not a manipulator specialist and is intended to show what the operator needs versus what the designer gave him. (author)

Remote application of an oscillatory system for density measurements

International Nuclear Information System (INIS)

Fortsch, E.M.; Wade, M.A.

1974-01-01

An Anton-Paar densimeter was modified for remote use and installed in the Remote Analytical Facility of the Idaho Chemical Processing Plant. This instrument determines density by measuring the deviation in resonant frequency of a hollow-glass mechanical oscillator when filled with sample material. The volume of the oscillator is constant and any change in its frequency is due to the sample. The change in frequency is a measure of the mass of the sample. Since there is no need to measure either volume or mass, the remote manipulations are simplified. This unit replaced existing falling-drop equipment with a reduction in cost and improvement of precision. The remote unit is used routinely 24 h a day with a precision of better than +- 5 x 10 -4 g/ml

Remote Manipulation for DandD Exhibiting Teleautonomy and Telecollaboration

International Nuclear Information System (INIS)

Ewing, Thomas F.; Colgate, J. Edward; Park, Young S.; Peshkin, Michael A.

2004-01-01

The purpose of the work is to enhance remote operations of robotic systems for DandD tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 DandD, as well as 2,000 hr DAWP DandD operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system

Remote Manipulation for DandD Exhibiting Teleautonomy and Telecollaboration

International Nuclear Information System (INIS)

Yule, Thomas J.; Colgate, J. Edward; Park, Young S.; Ewing, Thomas F.

2002-01-01

The purpose of the work is to enhance remote operations of robotic systems for DandD tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D and D, as well as 2,000 hr DAWP D and D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system

Stereo advantage for a peg-in-hole task using a force-feedback manipulator

Science.gov (United States)

Spain, Edward H.

1990-01-01

An improved assessment methodology has been implemented at NOSC and tested using an instrumented peg-in-hole (PiH) taskboard. Several aspects of the methodology are discussed in light of their implications for future studies of manipulator performance. Using a simple (but high-fidelity) force-feedback manipulator, a group of 9 trained operators showed a consistent advantage for stereoscopic TV viewing over monoscopic TV viewing when performing the PiH task. To introduce a controlled element of spatial uncertainty into the testing procedure, taskboard orientation relative to the manipulator and remote video camera head was changed in a randomized order on a trial-by-trial basis. The stereoscopic advantage demonstrated by this study can reasonably be expected to be even more pronounced as the quality of the stereo TV interface is improved and force-feedback provided through the manipulator system is diminished and/or distorted.

Remote Control of Tissue Interactions via Engineered Photo-switchable Cell Surfaces

Science.gov (United States)

Luo, Wei; Pulsipher, Abigail; Dutta, Debjit; Lamb, Brian M.; Yousaf, Muhammad N.

2014-09-01

We report a general cell surface molecular engineering strategy via liposome fusion delivery to create a dual photo-active and bio-orthogonal cell surface for remote controlled spatial and temporal manipulation of microtissue assembly and disassembly. Cell surface tailoring of chemoselective functional groups was achieved by a liposome fusion delivery method and quantified by flow cytometry and characterized by a new cell surface lipid pull down mass spectrometry strategy. Dynamic co-culture spheroid tissue assembly in solution and co-culture tissue multilayer assembly on materials was demonstrated by an intercellular photo-oxime ligation that could be remotely cleaved and disassembled on demand. Spatial and temporal control of microtissue structures containing multiple cell types was demonstrated by the generation of patterned multilayers for controlling stem cell differentiation. Remote control of cell interactions via cell surface engineering that allows for real-time manipulation of tissue dynamics may provide tools with the scope to answer fundamental questions of cell communication and initiate new biotechnologies ranging from imaging probes to drug delivery vehicles to regenerative medicine, inexpensive bioreactor technology and tissue engineering therapies.

A review of magnetic resonance imaging compatible manipulators in surgery.

Science.gov (United States)

Elhawary, H; Zivanovic, A; Davies, B; Lampérth, M

2006-04-01

Developments in magnetic resonance imaging (MRI), coupled with parallel progress in the field of computer-assisted surgery, mean that an ideal environment has been created for the development of MRI-compatible robotic systems and manipulators, capable of enhancing many types of surgical procedure. However, MRI does impose severe restrictions on mechatronic devices to be used in or around the scanners. In this article a review of the developments in the field of MRI-compatible surgical manipulators over the last decade is presented. The manipulators developed make use of different methods of actuation, but they can be reduced to four main groups: actuation transmitted through hydraulics, pneumatic actuators, ultrasonic motors based on the piezoceramic principle and remote manual actuation. Progress has been made concerning material selection, position sensing, and different actuation techniques, and design strategies have been implemented to overcome the multiple restrictions imposed by the MRI environment. Most systems lack the clinical validation needed to continue on to commercial products.

Advanced robotic remote handling system for reactor dismantlement

International Nuclear Information System (INIS)

Shinohara, Yoshikuni; Usui, Hozumi; Fujii, Yoshio

1991-01-01

An advanced robotic remote handling system equipped with a multi-functional amphibious manipulator has been developed and used to dismantle a portion of radioactive reactor internals of an experimental boiling water reactor in the program of reactor decommissioning technology development carried out by the Japan Atomic Energy Research Institute. (author)

Guiding device for a manipulator mast for internal inspection of a reactor pressure vessel

International Nuclear Information System (INIS)

Seifert, W.; Schlueter, H.

1977-01-01

A remote-controlled supporting device centering a manipulator mast is described which is mounted and operated above a reactor pressure vessel under water in such a way that rotations and vertical movements necessary for the internal inspection of the pressure vessel remain possible. (RW) [de

Method of remote powering and detecting multiple UWB passive tags in an RFID system

Science.gov (United States)

Dowla, Farid U [Castro Valley, CA; Nekoogar, Faranak [San Ramon, CA; Benzel, David M [Livermore, CA; Dallum, Gregory E [Livermore, CA; Spiridon, Alex [Palo Alto, CA

2012-05-29

A new Radio Frequency Identification (RFID), tracking, powering apparatus/system and method using coded Ultra-wideband (UWB) signaling is introduced. The proposed hardware and techniques disclosed herein utilize a plurality of passive UWB transponders in a field of an RFID-radar system. The radar system itself enables multiple passive tags to be remotely powered (activated) at about the same time frame via predetermined frequency UWB pulsed formats. Once such tags are in an activated state, an UWB radar transmits specific "interrogating codes" to put predetermined tags in an awakened status. Such predetermined tags can then communicate by a unique "response code" so as to be detected by an UWB system using radar methods.

Remote maintenance considerations for swimming pool tokamak reactor

International Nuclear Information System (INIS)

Niikura, S.; Yamada, M.; Kasai, M.

1983-01-01

Swimming Pool Tokamak Reactor (SPTR) is one of the candidate devices which are expected to demonstrate physical and engineering feasibility for fusion power reactors. In SPTR, water shield is adopted instead of solid shield structures. Among the advantages of SPTR are, from viewpoint of remote maintenance, small handling weight and high space availability between TF coils and a vacuum vessel. On the other hand, high dose rate during reactor repair and adverse effects on remote maintenance equipment by the shielding water might be the disadvantage of SPTR, where it is assumed that the shielding water is drained during reactor repair. Since the design of SPTR is still at the preliminary stage, for remote maintenance, much effort has been directed to clarification of design conditions such as environment and handling weight. As for the remote maintenance system concepts, studies have been focussed on those for a vacuum vessel and its internal structure (blanket, divertor and protection walls) expected to be repaired more frequently. The vacuum vessel assembly is divided into 21 sectors and number of TF coils is 14. A pair of TF coils are connected with each other by antitorque beams on the whole side surface. Vacuum vessel cassettes and associated blanket, divertor and protection walls are replaced through seven windows between TF coils pairs. Therefore each vacuum vessel cassette is required moving mechanisms in toroidal and radial directions. Options for slide mechanisms are wheels, balls, rollers and water bearings. Options for driving the cassette are self-driving by hydraulic motors and external driving by rack-pinion, wires or specific vehicles. As a result of studies, the moving mechanism with wheels and hydraulic motors has been selected for the reference design, and the system with water bearings and rack-pinion as an alternative. Furthermore typical concepts have been obtained for remote maintenance equipment such as wall-mounted manipulators, tools for

Development of manipulator system with good portability and usability

International Nuclear Information System (INIS)

Anon.

1990-01-01

Recently, accompanying the development of such elementary technologies as control technology, communication technology and ultrasmall, high accuracy sensor technology, the demand for the development of small, light weight manipulator systems which have the ingenuity comparable with human arms and can be moved and installed in any place becomes high. This time, by combining these elementary technologies with robot technology, the electric multi-articulate manipulator which can be applied to the ultrasonic flaw inspection of the welded parts and others in the various machinery and equipment for nuclear power stations was developed, and in the function confirmation test, the good results were obtained. This manipulator was developed jointly with five electric power companies. It was necessary to solve the subjects for the development. The system is composed of the equipment to be carried to a site and the equipment always installed in a control room, that is, ten components in total. The feature of the system is shown. The design of equipment constitution and control of the manipulator proper, the control technique, the function confirmation test and the results are reported. (K.I.)

Automatic and manual operation modes of the TFTR maintenance manipulator

International Nuclear Information System (INIS)

Boehme, G.; Gumb, L.; Lotz, E.; Mueller, G.; Selig, M.

1987-01-01

The remote in-vessel operations scheduled to maintain the TFTR at Princeton, NJ, USA, comprise inspection, calibration, cleaning and protective tile replacement. The environmental conditions inside the torus vessel are ultra high vacuum, moderate γ-radiation and 150 0 C temperature of the vessel structure. The Princeton Plasma Physics Laboratory (PPPL) and KfK are jointly developing a maintenance manipulator (MM) which can perform these tasks. (orig./HP)

A digital joint controller for manipulators

International Nuclear Information System (INIS)

Holt, E.J.; Palmer, D.E.B.

1993-01-01

Nuclear Electric's hydraulic heavy duty manipulators are used at a number of Magnox Power Stations for a wide variety of tasks. In recent years there has been a trend towards the use of manipulators for tasks requiring increasing precision of tip positioning. In order to meet this requirement, a digital controller has been designed to replace the analogue controller board used in almost all manipulator control systems. The new controller allows the programming of a wide range of closed loop control algorithms. Position and drive signal data may be passed to and from the controller by digital means, allowing direct connection to a graphical display system and/or a computer executing a guidance algorithm. The hardware and software design are outlined and performance in the laboratory and the field is reported. (author)

Remotely controllable liquid marbles

KAUST Repository

Zhang, Lianbin

2012-07-26

Liquid droplets encapsulated by self-organized hydrophobic particles at the liquid/air interface - liquid marbles - are prepared by encapsulating water droplets with novel core/shell-structured responsive magnetic particles, consisting of a responsive block copolymer-grafted mesoporous silica shell and magnetite core (see figure; P2VP-b-PDMS: poly(2-vinylpyridine-b- dimethylsiloxane)). Desirable properties of the liquid marbles include that they rupture upon ultraviolet illumination and can be remotely manipulated by an external magnetic field. 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Man-machine cooperation in remote handling for fusion plants

International Nuclear Information System (INIS)

Leinemann, K.

1984-01-01

Man-machine cooperation in remote handling for fusion plants comprises cooperation for design of equipment and planning of procedures using a CAD system, and cooperation during operation of the equipment with computer aided telemanipulation systems (CAT). This concept is presently being implemented for support of slave positioning, camera tracking, and camera alignment in the KfK manipulator test facility. The pilot implementation will be used to test various man-machine interface layouts, and to establish a set of basic buildings blocks for future implementations of advanced remote handling control systems. (author)

Distributed generation: remote power systems with advanced storage technologies

International Nuclear Information System (INIS)

Clark, Woodrow; Isherwood, William

2004-01-01

The paper discusses derived from an earlier hypothetical study of remote villiages. It considers the policy implications for communities who have their own local power resources rather than those distributed through transmission from distant sources such as dams, coal power plants or even renewables generation from wind farms, solar thermal or other resources. The issues today, post 911 and the energy crises in California, Northeast North America and Europe, signal the need for a new and different approach to energy supply(s), reliability and dissemination. Distributed generation (DG) as explored in the earlier paper appears to be one such approach that allows for local communities to become energy self-sufficient. Along with energy conservation, efficiency, and on-site generation, local power sources provide concrete definitions and understandings for heretofore ill defined concepts such as sustainability and eco-systems. The end result for any region and nation-state are 'agile energy systems' which use flexible DG, on-site generation and conservation systems meeting the needs of local communities. Now the challenge is to demonstrate and provide economic and policy structures for implementing new advanced technologies for local communities. For institutionalizing economically viable and sound environmental technologies then new finance mechanisms must be established that better reflect the true costs of clean energy distributed in local communities. For example, the aggregation of procurement contracts for on-site solar systems is far more cost effective than for each business owner, public building or household to purchase its own separate units. Thus mass purchasing contracts that are link technologies as hybrids can dramatically reduce costs. In short public-private partnerships can implement the once costly clean energy technologies into local DG systems

The International Remote Monitoring Project: Results of the Swedish Nuclear Power Facility field trial

International Nuclear Information System (INIS)

Johnson, C.S.; af Ekenstam, G.; Sallstrom, M.

1995-01-01

The Swedish Nuclear Power Inspectorate (SKI) and the US Department of Energy (DOE) sponsored work on a Remote Monitoring System (RMS) that was installed in August 1994 at the Barseback Works north of Malmo, Sweden. The RMS was designed to test the front end detection concept that would be used for unattended remote monitoring activities. Front end detection reduces the number of video images recorded and provides additional sensor verification of facility operations. The function of any safeguards Containment and Surveillance (C/S) system is to collect information which primarily is images that verify the operations at a nuclear facility. Barseback is ideal to test the concept of front end detection since most activities of safeguards interest is movement of spent fuel which occurs once a year. The RMS at Barseback uses a network of nodes to collect data from microwave motion detectors placed to detect the entrance and exit of spent fuel casks through a hatch. A video system using digital compression collects digital images and stores them on a hard drive and a digital optical disk. Data and images from the storage area are remotely monitored via telephone from Stockholm, Sweden and Albuquerque, NM, USA. These remote monitoring stations operated by SKI and SNL respectively, can retrieve data and images from the RMS computer at the Barseback Facility. The data and images are encrypted before transmission. This paper presents details of the RMS and test results of this approach to front end detection of safeguard activities

Remote sampling and analysis of highly radioactive samples in shielded boxes

International Nuclear Information System (INIS)

Kirpikov, D.A.; Miroshnichenko, I.V.; Pykhteev, O.Yu.

2010-01-01

The sampling procedure used for highly radioactive coolant water is associated with high risk of personnel irradiation and uncontrolled radioactive contamination. Remote sample manipulation with provision for proper radiation shielding is intended for safety enhancement of the sampling procedure. The sampling lines are located in an isolated compartment, a shielded box. Various equipment which enables remote or automatic sample manipulation is used for this purpose. The main issues of development of the shielded box equipment intended for a wider ranger of remote chemical analyses and manipulation techniques for highly radioactive water samples are considered in the paper. There were three principal directions of work: Transfer of chemical analysis performed in the laboratory inside the shielded box; Prevalence of computer-aided and remote techniques of highly radioactive sample manipulation inside the shielded box; and, Increase in control over sampling and determination of thermal-hydraulic parameters of the coolant water in the sampling lines. The developed equipment and solutions enable remote chemical analysis in the restricted volume of the shielded box by using ion-chromatographic, amperometrical, fluorimetric, flow injection, phototurbidimetric, conductometric and potentiometric methods. Extent of control performed in the shielded box is determined taking into account the requirements of the regulatory documents as well as feasibility and cost of the technical adaptation of various methods to the shielded box conditions. The work resulted in highly precise determination of more than 15 indexes of the coolant water quality performed in on-line mode in the shielded box. It averages to 80% of the total extent of control performed at the prototype reactor plants. The novel solutions for highly radioactive sample handling are implemented in the shielded box (for example, packaging, sample transportation to the laboratory, volume measurement). The shielded box is

Remote Systems Experience at the Oak Ridge National Laboratory--A Summary of Lessons Learned

International Nuclear Information System (INIS)

Noakes, Mark W.; Burgess, Thomas W.; Rowe, John C.

2011-01-01

Oak Ridge National Laboratory (ORNL) has a long history in the development of remote systems to support the nuclear environment. ORNL, working in conjunction with Central Research Laboratories, created what is believed to be the first microcomputer-based implementation of dual-arm master-slave remote manipulation. As part of the Consolidated Fuel Reprocessing Program, ORNL developed the dual-arm advanced servomanipulator focusing on remote maintainability for systems exposed to high radiation fields. ORNL also participated in almost all of the various technical areas of the U.S. Department of Energy s Robotics Technology Development Program, while leading the Decontamination and Decommissioning and Tank Waste Retrieval categories. Over the course of this involvement, ORNL has developed a substantial base of working knowledge as to what works when and under what circumstances for many types of remote systems tasks as well as operator interface modes, control bandwidth, and sensing requirements to name a few. By using a select list of manipulator systems that is not meant to be exhaustive, this paper will discuss history and outcome of development, field-testing, deployment, and operations from a lessons learned perspective. The final outcome is a summary paper outlining ORNL experiences and guidelines for transition of developmental remote systems to real-world hazardous environments.

Remote maintenance design for Fusion Experimental Reactor (FER)

International Nuclear Information System (INIS)

Tachikawa, K.; Iida, H.; Nishio, S.; Tone, T.; Aota, T.; Iwamoto, T.; Niikura, S.; Nishizawa, H.

1984-01-01

Design of Fusion Experimental Reactor, FER, has been conducted by Japan Atomic Energy Research Institute (JAERI) since 1981. Two typical reactors can be classified in general from the viewpoints of remote maintenance among four design concepts of FER. In the case of the type 1 FER, the torus module consists of shield structure and blanket, and the connective joints between toruses provided at the outer region of the reactor. As for the type 2 FER, the shield structure is joined with the vacuum cryostat, and only the blanket module is allowed to move, but connection between toruses are located in the inner region of the reactor. Comparing type 1 with type 2 FER, this paper describes on the remote maintenance of FER including reactor configurations, work procedures, remote systems/equipments, repairing facility and future R and D problems. Reviewing design studies and investigation for the existing robotics technologies, R and D for FER remote maintenance technology should be performed under the reasonable long-term program. The main items of remote technology required to start urgently are multi-purpose manipulator system with performance of dextrousity, tele-viewing system which reduces operator fatigue and remote tests for commercially available components

The evolution of teleoperated manipulators at ORNL

International Nuclear Information System (INIS)

Kress, R.L.; Jansen, J.F.; Noakes, M.W.; Herndon, J.N.

1996-01-01

ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system

Remote handling demonstration of ITER blanket module replacement

International Nuclear Information System (INIS)

Kakudate, S.; Nakahira, M.; Oka, K.; Taguchi, K.; Obara, K.; Tada, E.; Shibanuma, K.; Tesini, A.; Haange, R.; Maisonnier, D.

2001-01-01

In ITER, the in-vessel components such as blanket are to be maintained or replaced remotely since they will be activated by 14 MeV neutrons, and a complete exchange of shielding blanket with breeding blanket is foreseen after the Basic Performance Phase. The blanket is segmented into about seven hundred modules to facilitate remote maintainability and allow individual module replacement. For this, the remote handing equipment for blanket maintenance is required to handle a module with a dead weight of about 4 tonne within a positioning accuracy of a few mm under intense gamma radiation. According to the ITER R and D program, a rail-mounted vehicle manipulator system was developed and the basic feasibility of this system was verified through prototype testing. Following this, development of full-scale remote handling equipment has been conducted as one of the ITER Seven R and D Projects aiming at a remote handling demonstration of the ITER blanket. As a result, the Blanket Test Platform (BTP) composed of the full-scale remote handling equipment has been completed and the first integrated performance test in March 1998 has shown that the fabricate remote handling equipment satisfies the main requirements of ITER blanket maintenance. (author)

Final Report - Spent Nuclear Fuel Retrieval System Manipulator System Cold Validation Testing

International Nuclear Information System (INIS)

D.R. Jackson; G.R. Kiebel

1999-01-01

Manipulator system cold validation testing (CVT) was performed in support of the Fuel Retrieval System (FRS) Sub-Project, a subtask of the Spent Nuclear Fuel Project at the Hanford Site in Richland, Washington. The FRS will be used to retrieve and repackage K-Basin Spent Nuclear Fuel (SNF) currently stored in old K-Plant storage basins. The FRS is required to retrieve full fuel canisters from the basin; clean the fuel elements inside the canister to remove excessive uranium corrosion products (or sludge); remove the contents from the canisters; and sort the resulting debris, scrap, and fuel for repackaging. The fuel elements and scrap will be collected in fuel storage and scrap baskets in preparation for loading into a multi canister overpack (MCO), while the debris is loaded into a debris bin and disposed of as solid waste. The FRS is composed of three major subsystems. The Manipulator Subsystem provides remote handling of fuel, scrap, and debris; the In-Pool Equipment subsystem performs cleaning of fuel and provides a work surface for handling materials; and the Remote Viewing Subsystem provides for remote viewing of the work area by operators. There are two complete and identical FRS systems, one to be installed in the K-West basin and one to be installed in the K-East basin. Another partial system will be installed in a cold test facility to provide for operator training

Final Report - Spent Nuclear Fuel Retrieval System Manipulator System Cold Validation Testing

Energy Technology Data Exchange (ETDEWEB)

D.R. Jackson; G.R. Kiebel

1999-08-24

Manipulator system cold validation testing (CVT) was performed in support of the Fuel Retrieval System (FRS) Sub-Project, a subtask of the Spent Nuclear Fuel Project at the Hanford Site in Richland, Washington. The FRS will be used to retrieve and repackage K-Basin Spent Nuclear Fuel (SNF) currently stored in old K-Plant storage basins. The FRS is required to retrieve full fuel canisters from the basin; clean the fuel elements inside the canister to remove excessive uranium corrosion products (or sludge); remove the contents from the canisters; and sort the resulting debris, scrap, and fuel for repackaging. The fuel elements and scrap will be collected in fuel storage and scrap baskets in preparation for loading into a multi canister overpack (MCO), while the debris is loaded into a debris bin and disposed of as solid waste. The FRS is composed of three major subsystems. The Manipulator Subsystem provides remote handling of fuel, scrap, and debris; the In-Pool Equipment subsystem performs cleaning of fuel and provides a work surface for handling materials; and the Remote Viewing Subsystem provides for remote viewing of the work area by operators. There are two complete and identical FRS systems, one to be installed in the K-West basin and one to be installed in the K-East basin. Another partial system will be installed in a cold test facility to provide for operator training.

Remote maintenance system technology development for nuclear fuel cycle plants

International Nuclear Information System (INIS)

Kashihara, Hidechiyo

1984-01-01

The necessity of establishing the technology of remote maintenance, the kinds of maintenance techniques and the change, the image of a facility adopting remote maintenance canyon process, and the outline of the R and D plan to put remote maintenance canyon process in practical use are described. As the objects of development, there are twin arm type servo manipulator system, rack system, remote tube connectors, solution sampling system, inspection system for in-cell equipment, and large plugs for wall penetration. The outline of those are also reported. The development of new remote maintenance technology has been forwarded in the Tokai Works aiming at the application to a glass solidification pilot plant and a FBR fuel recycling test facility. The lowering of the rate of utilization of cells due to poor accessibility and the increase of radiation exposure of workers must be overcome to realize nuclear fuel cycle technology. The maintenance technology is classified into crane canyon method, direct maintenance cell method, remote maintenance cell method and remote maintenance canyon method, and those are described briefly. The development plan of remote maintenance technology is outlined. (Kako, I.)

Remote technology: a series of articles

International Nuclear Information System (INIS)

Meieran, H.B.

1987-01-01

A series of articles on the use of remote technology in the nuclear industry. A worldwide survey of mobile robots suitable for actual or proposed use in nuclear facilities is presented. Details are given of the first Robot Users Group, recently formed in the U.S.A. Robots with artificial intelligence are under development at Tokyo Electric Power Company. Kansai Electric Power and Toshiba are two companies conducting RandD to further the application of robots. Westinghouse have used the Rosa robotic arm in zero-entry steam generator tube sleeving projects, and are now looking at further developments. The 'Warrior' manipulator, by Taylot Hitec, has conducted the first continuous path MIG weld inside a magnox reactor. The articulated boom for the JET fusion device can lift 1t. at full extension. The Savannah River Laboratory is studying an advanced intelligent machine which could lead to the introduction of legged mobile and multi-tasking teleoperated work stations. Plans are being made to equip the Surveyor mobile surveillance system at Nine Mile Point with a number of tools. Frastar, developed by Framatome, is a vehicle which can operate inside the containment of a reactor in operation or in hazardous areas. The mobile surveillance robot, Surbot, developed by Remotec, has successfully completed five months of testing at Browns Ferry BWR. (author)

A Centrifugal Contactor Design to Facilitate Remote Replacement

International Nuclear Information System (INIS)

Meikrantz, David H.; Law, Jack D.; Garn, Troy G.; Macaluso, Lawrence L.

2011-01-01

Advanced designs of nuclear fuel recycling and radioactive waste treatment plants are expected to include more ambitious goals for solvent extraction based separations including; higher separations efficiency, high-level waste minimization, and a greater focus on continuous processes to minimize cost and footprint. Therefore, Annular Centrifugal Contactors (ACCs) are destined to play a more important role for such future processing schemes. This work continues the development of remote designs for ACCs that can process the large throughputs needed for future nuclear fuel recycling and radioactive waste treatment plants. A three stage, 12.5 cm diameter rotor module has been constructed and is being evaluated for use in highly radioactive environments. This prototype assembly employs three standard CINC V-05 clean-in-place (CIP) units modified for remote service and replacement via new methods of connection for solution inlets, outlets, drain and CIP. Hydraulic testing and functional checks were successfully conducted and then the prototype was evaluated for remote handling and maintenance. Removal and replacement of the center position V-05R contactor in the three stage assembly was demonstrated using an overhead rail mounted PaR manipulator. Initial evaluation indicates a viable new design for interconnecting and cleaning individual stages while retaining the benefits of commercially reliable ACC equipment. Replacement of a single stage via remote manipulators and tools is estimated to take about 30 minutes, perhaps fast enough to support a contactor change without loss of process equilibrium. The design presented in this work is scalable to commercial ACC models from V-05 to V-20 with total throughput rates ranging from 20 to 650 liters per minute.

Global Energy-Optimal Redundancy Resolution of Hydraulic Manipulators: Experimental Results for a Forestry Manipulator

Directory of Open Access Journals (Sweden)

Jarmo Nurmi

2017-05-01

Full Text Available This paper addresses the energy-inefficiency problem of four-degrees-of-freedom (4-DOF hydraulic manipulators through redundancy resolution in robotic closed-loop controlled applications. Because conventional methods typically are local and have poor performance for resolving redundancy with respect to minimum hydraulic energy consumption, global energy-optimal redundancy resolution is proposed at the valve-controlled actuator and hydraulic power system interaction level. The energy consumption of the widely popular valve-controlled load-sensing (LS and constant-pressure (CP systems is effectively minimised through cost functions formulated in a discrete-time dynamic programming (DP approach with minimum state representation. A prescribed end-effector path and important actuator constraints at the position, velocity and acceleration levels are also satisfied in the solution. Extensive field experiments performed on a forestry hydraulic manipulator demonstrate the performance of the proposed solution. Approximately 15–30% greater hydraulic energy consumption was observed with the conventional methods in the LS and CP systems. These results encourage energy-optimal redundancy resolution in future robotic applications of hydraulic manipulators.

Advanced manipulator system for large hot cells

International Nuclear Information System (INIS)

Vertut, J.; Moreau, C.; Brossard, J.P.

1981-01-01

Large hot cells can be approached as extrapolated from smaller ones as wide, higher or longer in size with the same concept of using mechanical master slave manipulators and high density windows. This concept leads to a large number of working places and corresponding equipments, with a number of penetrations through the biological protection. When the large cell does not need a permanent operation of number of work places, as in particular to serve PIE machines and maintain the facility, use of servo manipulators with a large supporting unit and extensive use of television appears optimal. The advance on MA 23 and supports will be described including the extra facilities related to manipulators introduction and maintenance. The possibility to combine a powered manipulator and MA 23 (single or pair) on the same boom crane system will be described. An advance control system to bring the minimal dead time to control support movement, associated to the master slave arm operation is under development. The general television system includes over view cameras, associated with the limited number of windows, and manipulators camera. A special new system will be described which brings an automatic control of manipulator cameras and saves operator load and dead time. Full scale tests with MA 23 and support will be discussed. (author)

Design of an off-grid hybrid PV/wind power system for remote mobile base station: A case study

Directory of Open Access Journals (Sweden)

Mulualem T. Yeshalem

2017-01-01

Full Text Available There is a clear challenge to provide reliable cellular mobile service at remote locations where a reliable power supply is not available. So, the existing Mobile towers or Base Transceiver Station (BTSs uses a conventional diesel generator with backup battery banks. This paper presents the solution to utilizing a hybrid of photovoltaic (PV solar and wind power system with a backup battery bank to provide feasibility and reliable electric power for a specific remote mobile base station located at west arise, Oromia. All the necessary modeling, simulation, and techno-economic evaluation are carried out using Hybrid Optimization Model for Electric Renewable (HOMER software. The best optimal system configurations namely PV/Battery and PV/Wind/Battery hybrid systems are compared with the conventional stand-alone diesel generator (DG system. Findings indicated that PV array and battery is the most economically viable option with the total net present cost (NPC of $\\$$57,508 and per unit cost of electricity (COE of $\\$$0.355. Simulation results show that the hybrid energy systems can minimize the power generation cost significantly and can decrease CO2 emissions as compared to the traditional diesel generator only. The sensitivity analysis is also carried out to analysis the effects of probable variation in solar radiation, wind speed, diesel price and average annual energy usage of the system load in the optimal system configurations.

Probe manipulators for Wendelstein 7-X and their interaction with the magnetic topology

Science.gov (United States)

M, RACK; D, HÖSCHEN; D, REITER; B, UNTERBERG; J, W. COENEN; S, BREZINSEK; O, NEUBAUER; S, BOZHENKOV; G, CZYMEK; Y, LIANG; M, HUBENY; Ch, LINSMEIER; the Wendelstein 7-X Team

2018-05-01

Probe manipulators are a versatile addition to typical plasma edge diagnostics. Equipped with material samples they allow for detailed investigation of plasma–wall interaction processes, such as material erosion, deposition or impurity transport pathways. When combined with electrical probes, a study of scrape-off layer and plasma edge density, temperature and flow profiles as well as magnetic topologies is possible. A mid-plane manipulator is already in operation on Wendelstein 7-X. A system in the divertor region is currently under development. In the present paper we discuss the critical issue of heat and power loads, power redistribution and experimental access to the complex magnetic topology of Wendelstein 7-X. All the aforementioned aspects are of relevance for the design and operation of a probe manipulator in a device like Wendelstein 7-X. A focus is put on the topological region that is accessible for the different coil current configurations at Wendelstein 7-X and the power load on the manipulator with respect to the resulting different magnetic configurations. Qualitative analysis of power loads on plasma-facing components is performed using a numerical tracer particle diffusion tool provided via the Wendelstein 7-X Webservices.

Intelligent Switching Control of Pneumatic Artificial Muscle Manipulator

Science.gov (United States)

Ahn, Kyoung Kwan; Thanh, Tu Diep Cong; Ahn, Young Kong

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are the factors that could potentially be exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as deterioration of the performance of transient response due to the change of the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed, which estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

Development of remote handling system based on 3-D shape recognition technique

International Nuclear Information System (INIS)

Tomizuka, Chiaki; Takeuchi, Yutaka

2006-01-01

In a nuclear facility, the maintenance and repair activities must be done remotely in a radioactive environment. Fuji Electric Systems Co., Ltd. has developed a remote handling system based on 3-D recognition technique. The system recognizes the pose and position of the target to manipulate, and visualizes the scene with the target in 3-D, enabling an operator to handle it easily. This paper introduces the concept and the key features of this system. (author)

Design and operation of a remotely operated plutonium waste size reduction and material handling process

International Nuclear Information System (INIS)

Stewart, J.A. III; Charlesworth, D.L.

1986-01-01

Noncombustible 238 Pu and 239 Pu waste is generated as a result of normal operation and decommissioning activity at the Savannah River Plant, and is being retrievably stored there. As part of the long-term plant to process the stored waste and current waste for permanent disposal, a remote size reduction and material handling process is being cold-tested at Savannah River Laboratory. The process consists of a large, low-speed shredder and material handling system, a remote worktable, a bagless transfer system, and a robotically controlled manipulator. Initial testing of the shredder and material handling system and a cycle test of the bagless transfer system has been completed. Fabrication and acceptance testing of the Telerobat, a robotically controlled manipulator has been completed. Testing is scheduled to begin in 3/86. Design features maximizing the ability to remotely maintain the equipment were incorporated. Complete cold-testing of the equipment is scheduled to be completed in 1987

Teleoperation and computer control of a backhoe/manipulator system

International Nuclear Information System (INIS)

Amazeen, C.A.; Bishop, S.S.

1987-01-01

Teleoperation of the U.S. Army's Small Emplacement Excavator (SEE) is now in the prototype stage of development. Initial work is directed towards remotely controlling the SEE backhoe attachment as well as a Belvoir Research, Development, and Engineering Center (BRDEC)-developed heavy-lift manipulator (HLM). The HLM is an alternate end effector for the backhoe. Primitive computer control of the backhoe, with a bucket as an end effector, has been achieved. This paper presents the current and planned system configurations and discusses system applications

Remote operations and viewing using the monitor system

International Nuclear Information System (INIS)

Grisham, D.L.; Lambert, J.E.; Baldwin, T.S.; Ekberg, E.L.; Hernandez, T.R.; Raybun, J.L.

1984-01-01

Over the past two years, major rebuilding operations were conducted at the Clinton P. Anderson Meson Physics Facility (LAMPF). These operations involved replacement of complex experimental apparatus in high-radiation areas using servomanipulators and video viewing. All remote tasks were completed on or ahead of allotted schedules. This success is attributed to continuing improvement of manipulators, viewing systems, and operating techniques

Remotely replaceable fuel and feed nozzles for the new waste calcining facility calciner vessel

International Nuclear Information System (INIS)

Fletcher, R.D.; Carter, J.A.; May, K.W.

1978-01-01

The development and testing of remotely replaceable fuel and feed nozzles for calcination of liquid radioactive wastes in the calciner vessel of the New Waste Calcining Facility being built at the Idaho National Engineering Laboratory is described. A complete fuel nozzle assembly was fabricated and tested at the Remote Maintenance Development Facility to evolve design refinements, identify required support equipment, and develop handling techniques. The design also provided for remote replacement of the nozzle support carriage and adjacent feed and fuel pipe loops using two pairs of master-slave manipulators

An autonomous nuclear power plant with integrated nuclear steam supply system designed for electric power and heat supply in remote areas with difficult access

International Nuclear Information System (INIS)

Adamovich, L.A.; Grechko, G.I.; Lapin, B.D.; Ulasevich, V.K.; Shishkin, V.A.

1997-01-01

The paper contains basic conceptual principles used to develop the technical assignment for an autonomous nuclear power plant with integrated nuclear steam supply system (NSSS) designed to provide heat and electricity for areas which are remote with difficult access. The paper also describes technical procedures and equipment, NPP thermal hydraulic flow chart, steam generator design, safety aspects as well as operational and maintenance procedures. (author)

Effect of Remote Back-Up Protection System Failure on the Optimum Routine Test Time Interval of Power System Protection

Directory of Open Access Journals (Sweden)

Y Damchi

2013-12-01

Full Text Available Appropriate operation of protection system is one of the effective factors to have a desirable reliability in power systems, which vitally needs routine test of protection system. Precise determination of optimum routine test time interval (ORTTI plays a vital role in predicting the maintenance costs of protection system. In the most previous studies, ORTTI has been determined while remote back-up protection system was considered fully reliable. This assumption is not exactly correct since remote back-up protection system may operate incorrectly or fail to operate, the same as the primary protection system. Therefore, in order to determine the ORTTI, an extended Markov model is proposed in this paper considering failure probability for remote back-up protection system. In the proposed Markov model of the protection systems, monitoring facility is taken into account. Moreover, it is assumed that the primary and back-up protection systems are maintained simultaneously. Results show that the effect of remote back-up protection system failures on the reliability indices and optimum routine test intervals of protection system is considerable.

Development of remote automatic equipment for BWR power plants

International Nuclear Information System (INIS)

Sasaki, Masayoshi

1984-01-01

The development of remote control, automatic equipment for nuclear power stations has been promoted to raise the rate of operation of plants by shortening regular inspection period, to improve the safety and reliability of inspection and maintenance works by mechanization, to reduce the radiation exposure dose of workers and to reduce the manpower required for works. The taking-off of control rod drives from reactors and fixing again have been mechanized, but the disassembling, cleaning, inspection and assembling of control rod drives are manually carried out. Therefore, Hitachi Ltd. has exerted effort to develop the automatic equipment for this purpose. The target of development, investigation, the construction and function of the equipment, the performance and the effect of adopting it are reported. The equipment for the volume reduction of spent fuel channel boxes and spent control rods is developed since these are major high level radioactive solid wastes, and their apparent volume is large. Also the target of development, investigated things, the construction and function of the equipment, the performance and the effect of adopting it are reported. (Kako, I.)

CameraCast: flexible access to remote video sensors

Science.gov (United States)

Kong, Jiantao; Ganev, Ivan; Schwan, Karsten; Widener, Patrick

2007-01-01

New applications like remote surveillance and online environmental or traffic monitoring are making it increasingly important to provide flexible and protected access to remote video sensor devices. Current systems use application-level codes like web-based solutions to provide such access. This requires adherence to user-level APIs provided by such services, access to remote video information through given application-specific service and server topologies, and that the data being captured and distributed is manipulated by third party service codes. CameraCast is a simple, easily used system-level solution to remote video access. It provides a logical device API so that an application can identically operate on local vs. remote video sensor devices, using its own service and server topologies. In addition, the application can take advantage of API enhancements to protect remote video information, using a capability-based model for differential data protection that offers fine grain control over the information made available to specific codes or machines, thereby limiting their ability to violate privacy or security constraints. Experimental evaluations of CameraCast show that the performance of accessing remote video information approximates that of accesses to local devices, given sufficient networking resources. High performance is also attained when protection restrictions are enforced, due to an efficient kernel-level realization of differential data protection.

Mobile robot for power plant inspection and maintenance

International Nuclear Information System (INIS)

White, J.R.; Farnstrom, K.A.; Harvey, H.W.; Upton, R.G.; Walker, K.L.

1988-01-01

An all-terrain, mobile robot (called SURBOT-T) has been developed to perform remote visual, sound, and radiation surveillance within contaminated areas of nuclear power plants. The robot can be equipped with a two-armed, telerobotic manipulator system to perform remote maintenance work. The SURBOT-T vehicle has a double-articulating track base that is capable of climbing 45-deg slopes and stairs and over 16-in.-high obstacles. The overall size of SURBOT-T is 28 in. wide by 38 in. long with the front and rear tracks raised and 52 in. high with the camera lowered. With the tracks in a level position, the base provides a sturdy work platform and can ascend/descend stairs without fear of tipping over. The track can be pivoted straight down to elevate the base 14 in. and pass through water up to 24 in. deep. All motors, amplifiers, computer boards, and other electronic components are contained within a sealed housing. The color television camera, spotlight, and directional microphone are mounted on a pan/tilt, which is attached to an elevating mechanism that has 8 ft of vertical travel. An air sampler, radiation detector, and temperature/humidity probe are mounted on the vehicle. The slave manipulator arms on the vehicle can be teleoperated using master arms that are attached to a portable stand near the control console. They can also be taught to perform motions or tasks by computer control much like robot arms in the automated manufacturing industry

Object-Oriented Approach to Manipulating Acoustic and Seismic Spectra

National Research Council Canada - National Science Library

Wilson, D. K; Torrey, Jacob I

2006-01-01

The software design and underlying mathematics for an object-oriented, Java-based approach to creating and manipulating frequency-dependent functions, such as power spectral densities, is described...

Commander manipulator scoops prestigious mulit-million pound BNFL contract

International Nuclear Information System (INIS)

Bailey, Andrew.

1997-01-01

Twenty-one Commander robotic arms are on order from INBIS (formerly Ricardo Hitec) and BNFL Engineering Limited (''BEL'', the engineering arm of parent company BNFL). The multi-million pound contract was won amid fierce competition from other well-known names in robotic engineering. The specially designed Commander manipulators will be engaged in remotely handling Intermediate Level Waste (ILW) in a suite of four BNFL ILW plants, which are currently either under construction or planned at Sellafield. The first Commander will delivered to BNFL's Sellafield Silo Emptying Project in January 1998. (Author)

Functional requirements for an intelligent RPC. [remote power controller for spaceborne electrical distribution system

Science.gov (United States)

Aucoin, B. M.; Heller, R. P.

1990-01-01

An intelligent remote power controller (RPC) based on microcomputer technology can implement advanced functions for the accurate and secure detection of all types of faults on a spaceborne electrical distribution system. The intelligent RPC will implement conventional protection functions such as overcurrent, under-voltage, and ground fault protection. Advanced functions for the detection of soft faults, which cannot presently be detected, can also be implemented. Adaptive overcurrent protection changes overcurrent settings based on connected load. Incipient and high-impedance fault detection provides early detection of arcing conditions to prevent fires, and to clear and reconfigure circuits before soft faults progress to a hard-fault condition. Power electronics techniques can be used to implement fault current limiting to prevent voltage dips during hard faults. It is concluded that these techniques will enhance the overall safety and reliability of the distribution system.

On the control performance of motors driven by long cables for remote handling at ITER

International Nuclear Information System (INIS)

Sol, Enrique del; Meek, Richard; Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador

2016-01-01

Highlights: • We show the dangerous effects of reflections on the actuator’s system. • We prove how to solve the reflections issue with a commercial LC filter. • We study the filter influence for short cables on two control modes. • We show the filter performance under a real remote handling operation. • We study the excellent performance of the filter for different cable lengths. - Abstract: Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER.

On the control performance of motors driven by long cables for remote handling at ITER

Energy Technology Data Exchange (ETDEWEB)

Sol, Enrique del, E-mail: enrique.delsol@oxfordtechnologies.co.uk [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Meek, Richard [Oxford Technologies Ltd., 7 Nuffield Way, Abingdon OX141RL (United Kingdom); Ruiz Morales, Emilio; Vitelli, Ricardo; Esqué, Salvador [Fusion for Energy, Josep Pla, 2, Barcelona 08019 (Spain)

2016-06-15

Highlights: • We show the dangerous effects of reflections on the actuator’s system. • We prove how to solve the reflections issue with a commercial LC filter. • We study the filter influence for short cables on two control modes. • We show the filter performance under a real remote handling operation. • We study the excellent performance of the filter for different cable lengths. - Abstract: Pulse Width Modulation (PWM) is nowadays the most used method for controlling a servo-motor. When combining PWM with motors and long cables, such as the ones that will be found at ITER, the standing waves originated are potentially very harmful for both actuator’s life span and control performance. Several methods have been investigated to cope with this issue, such as the use of chokes, filters, snubbers or active modification of the PWM signal. Of all possible locations where an electrical servo-motor could be used at ITER, the most critical scenario arises when mounting a low power motor, with a low gear ratio, in a dexterous manipulator for bilateral teleoperation. In those circumstances cable lengths of more than 150 m are expected between manipulator and control cubicle. In this paper, the effects of long cables in the system safety are analysed on a custom made test bench. The most common solutions to cope with this issue are analysed and a commercial LC filter is selected for further experimentation. An extensive set of experiments are carried out in order to validate the proposed solution for being used on remote handling equipment at ITER.

Manipulation and the grounds of institutional obligation: an argument for international equality

Directory of Open Access Journals (Sweden)

Ryan W. Davis

2015-10-01

Full Text Available According to one influential argument on state-centered conceptions of justice, the domestic coercion inherent in state authority is illegitimate unless states ensure the equality of their citizens. In this paper, I argue that while state coercion is not present in international politics, there may still be phenomena that give rise to the political value of equality. I claim that morally objectionable manipulation may occur within international politics, and that this problem recommends an egalitarian solution. Manipulation occurs when one agent takes control of another agent's actions, either through impairing the other's capacity to act or through taking advantage of such impairment. I use the WTO as a case to illustrate how more powerful members of international institutions may sometimes manipulate less powerful members. Although political theory cannot settle empirical questions about such phenomena, it can raise questions that are intelligible through existing approaches to international politics. I argue that the prospect of manipulation introduces new relevance to political value of equality internationally.

Modular remote radiation monitor

International Nuclear Information System (INIS)

Lacerda, Fabio; Farias, Marcos S.; Aghina, Mauricio A.C.; Oliveira, Mauro V.

2013-01-01

The Modular Remote Radiation Monitor (MRRM) is a novel radiation monitor suitable for monitoring environmental exposure to ionizing radiation. It is a portable compact-size low-power microprocessor-based electronic device which provides its monitoring data to other electronic systems, physically distant from it, by means of an electronic communication channel, which can be wired or wireless according to the requirements of each application. Besides its low-power highly-integrated circuit design, the Modular Remote Radiation Monitor is presented in a modular architecture, which promotes full compliance to the technical requirements of different applications while minimizing cost, size and power consumption. Its communication capability also supports the implementation of a network of multiple radiation monitors connected to a supervisory system, capable of remotely controlling each monitor independently as well as visualizing the radiation levels from all monitors. A prototype of the MRRM, functionally equivalent to the MRA-7027 radiation monitor, was implemented and connected to a wired MODBUS network of MRA-7027 monitors, responsible for monitoring ionizing radiation inside Argonauta reactor room at Instituto de Engenharia Nuclear. Based on the highly positive experimental results obtained, further design is currently underway in order to produce a consumer version of the MRRM. (author)

Photovoltaic Power System and Power Distribution Demonstration for the Desert RATS Program

Science.gov (United States)

Colozza, Anthony; Jakupca, Ian; Mintz, Toby; Herlacher, Mike; Hussey, Sam

2012-01-01

A stand alone, mobile photovoltaic power system along with a cable deployment system was designed and constructed to take part in the Desert Research And Technology Studies (RATS) lunar surface human interaction evaluation program at Cinder Lake, Arizona. The power system consisted of a photovoltaic array/battery system. It is capable of providing 1 kW of electrical power. The system outputs were 48 V DC, 110 V AC, and 220 V AC. A cable reel with 200 m of power cable was used to provide power from the trailer to a remote location. The cable reel was installed on a small trailer. The reel was powered to provide low to no tension deployment of the cable. The cable was connected to the 220 V AC output of the power system trailer. The power was then converted back to 110 V AC on the cable deployment trailer for use at the remote site. The Scout lunar rover demonstration vehicle was used to tow the cable trailer and deploy the power cable. This deployment was performed under a number of operational scenarios, manned operation, remote operation and tele-robotically. Once deployed, the cable was used to provide power, from the power system trailer, to run various operational tasks at the remote location.

Remote observatories for amateur astronomers using high-powered telescopes from home

CERN Document Server

Hubbell, Gerald R; Billard, Linda M

2015-01-01

Amateur astronomers who want to enhance their capabilities to contribute to science need look no farther than this guide to using remote observatories.  The contributors cover how to build your own remote observatory as well as the existing infrastructure of commercial networks of remote observatories that are available to the amateur. They provide specific advice on which programs to use based on your project objectives and offer practical project suggestions. Remotely controlled observatories have many advantages—the most obvious that the observer does not have to be physically present to carry out observations. Such an observatory can also be used more fully because its time can be scheduled and usefully shared among several astronomers working on different observing projects. More and more professional-level observatories are open to use by amateurs in this way via the Internet, and more advanced amateur astronomers can even build their own remote observatories for sharing among members of a society ...

Modeling and Analysis of Remote, Off-grid Microgrids

Science.gov (United States)

Madathil, Sreenath Chalil

Over the past century the electric power industry has evolved to support the delivery of power over long distances with highly interconnected transmission systems. Despite this evolution, some remote communities are not connected to these systems. These communities rely on small, disconnected distribution systems, i.e., microgrids, to deliver power. Power distribution in most of these remote communities often depend on a type of microgrid called "off-grid microgrids". However, as microgrids often are not held to the same reliability standards as transmission grids, remote communities can be at risk to experience extended blackouts. Recent trends have also shown an increased use of renewable energy resources in power systems for remote communities. The increased penetration of renewable resources in power generation will require complex decision making when designing a resilient power system. This is mainly due to the stochastic nature of renewable resources that can lead to loss of load or line overload during their operations. In the first part of this thesis, we develop an optimization model and accompanying solution algorithm for capacity planning and operating microgrids that include N-1 security and other practical modeling features (e.g., AC power flow physics, component efficiencies and thermal limits). We demonstrate the effectiveness of our model and solution approach on two test systems: a modified version of the IEEE 13 node test feeder and a model of a distribution system in a remote Alaskan community. Once a tractable algorithm was identified to solve the above problem, we develop a mathematical model that includes topology design of microgrids. The topology design includes building new lines, making redundant lines, and analyzing N-1 contingencies on generators and lines. We develop a rolling horizon algorithm to efficiently analyze the model and demonstrate the strength of our algorithm in the same network. Finally, we develop a stochastic model that

Guidelines for the development of applicative software for supervising and remote electric power substations; Diretrizes de desenvolvimento de softwares aplicativos para as estacoes supervisoras e remotas

Energy Technology Data Exchange (ETDEWEB)

Ribeiro, Guilherme Moutinho; Soares, Wellington Zakhia; Morais, Arnoldo Magela [Companhia Energetica de Minas Gerais (CEMIG), Belo Horizonte, MG (Brazil)

1995-12-31

The increasing application of remote control supervision systems composed of regional operation centers (COR) and remote terminal units (UTR) creates the adequate conditions for the development and implementation of operational engineering functions in electric power substations (SE). In order to provide the necessary elements for such qualitative improvement, this work presents guidelines for the development of applicative soft-wares for the local control and supervision to be installed in CORs and UTRS, based in CEMIG`s, the electric power company of Minas Gerais State - Southeast Brazil, experience 4 refs.

Powering FITL for Deutsche Telekom

Energy Technology Data Exchange (ETDEWEB)

Schulz, W. [T-Nova Deutsche Telekom Innovationsgesellschaft mbH Technologiezentrum (Germany)

2000-07-01

Deutsche Telekom introduced the project OPAL (optical access line) 8 years ago. The development of new applications for FITL (FTTH, FTTB, FTTC) leads to new challenges for power systems. For the establishment of an optical fibre infrastructure at the subscriber line level a wide variety of possible optical fibre network topologies can be imagined. Different powering architectures must be developed including remote or local powering. This paper presents results and performances of the powering configurations to feed the optical network units (ONU) and remote OLT. Compared to conventional powering the centralised powering with remote feeding supply was implemented to power the ONU in the field economically. (orig.)

Application of telerobotic control to remote processing of nuclear material

International Nuclear Information System (INIS)

Merrill, R.D.; Grasz, E.L.; Herget, C.J.; Gavel, D.T.; Addis, R.B.; DeMinico, G.A.

1991-01-01

In processing radioactive material there are certain steps which have customarily required operators working at glove box enclosures. This can subject the operators to low level radiation dosages and the risk of accidental contamination, as well as generate significant radioactive waste to accommodate the human interaction. An automated system is being developed to replace the operator at the glove box and thus remove the human from these risks, and minimize waste. Although most of the processing can be automated with very little human operator interaction, there are some tasks where intelligent intervention is necessary to adapt to unexpected circumstances and events. These activities will require that the operator be able to interact with the process using a remote manipulator in a manner as natural as if the operator were actually in the work cell. This robot-based remote manipulation system, or telerobot, must provide the operator with an effective means of controlling the robot arm, gripper and tools. This paper describes the effort in progress in Lawrence Livermore National Laboratory to achieve this capability. 8 refs

Joining teleoperation with robotics for advanced manipulation in hostile environments

International Nuclear Information System (INIS)

Martin, H.L.; Hamel, W.R.

1984-01-01

Manipulators have been used for many years to perform remote handling tasks in hazardous environments. The development history of teleoperators is reviewed, and applications around the world are summarized. The effect of computer supervisory control is discussed, and similarities between robots and teleoperator research activities are delineated. With improved control strategies and system designs, combination of positive attributes of robots with teleoperators will lead to advanced machines capable of autonomy in unstructured environments. This concept of a telerobot is introduced as a goal for future activities

Remote RemoteRemoteRemote sensing potential for sensing ...

African Journals Online (AJOL)

Remote RemoteRemoteRemote sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing potential for sensing p. A Ngie, F Ahmed, K Abutaleb ...

Behavior-Based Assists for Telerobotic Manipulation

International Nuclear Information System (INIS)

Noakes, Mark W.; Hamel, Dr. William R.

2008-01-01

Teleoperated manipulation has been a critical tool in hazardous operations where the presence of humans has been precluded since the early days of nuclear material handling. Performance levels and limitations were understood and accepted. However, in the current era of decontamination and decommissioning (D and D) of facilities owned by the U.S. Department of Energy, there has been criticism that traditional remote systems are too expensive, too slow, and too difficult to use by cost-driven demolition companies. Previous research in telerobotics has attempted to alleviate some of these issues; however, it has been difficult to get capabilities generated in the research lab into the field. One major difficulty is the severely unstructured environments found in real D and D type environments. Behavior-based robotics (BBR) is based on concepts specifically designed to permit autonomous robots to function in unstructured environments. BBR schemes use sensor data to interact with the world directly rather than to generate models that are manipulated. Because the robot is immersed in its environment and since sensors are mounted on the robot, sensing and motion are inherently calibrated with respect to the robot. This paper presents a behavior-based approach and architecture for executing telerobotic D and D type tooling tasks

Remote Reactor Monitoring

Energy Technology Data Exchange (ETDEWEB)

Bernstein, Adam [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Dazeley, Steve [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Dobie, Doug [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Marleau, Peter [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Brennan, Jim [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Gerling, Mark [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Sumner, Matthew [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Sweany, Melinda [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

2014-10-21

The overall goal of the WATCHMAN project is to experimentally demonstrate the potential of water Cerenkov antineutrino detectors as a tool for remote monitoring of nuclear reactors. In particular, the project seeks to field a large prototype gadolinium-doped, water-based antineutrino detector to demonstrate sensitivity to a power reactor at ~10 kilometer standoff using a kiloton scale detector. The technology under development, when fully realized at large scale, could provide remote near-real-time information about reactor existence and operational status for small operating nuclear reactors out to distances of many hundreds of kilometers.

Remote real time x-ray examination of fuel elements in a hot cell environment

International Nuclear Information System (INIS)

Yapuncich, F.L.

1993-01-01

This report discusses the Remote Real Time X-ray System which will allow for detailed examination of fuel elements. This task will be accomplished in a highly radioactive hot cell environment. Two remote handling systems win be utilized at the examination station. One handling system will transfer the fuel element to and from the shielded x-ray system. A second handling system will allow for vertical and rotational inspection of the fuel elements. The process win include removing a single nuclear fuel element from a element fabrication magazine(EFM), positioning the fuel element within the shielding envelope of the x-ray system and transferring the fuel element from the station manipulator to the x-ray system manipulator, performing the x-ray inspection, and then transferring the fuel element to either the element storage magazine(ESM) or a reject bin

Development of a virtual reality simulator for the ITER blanket remote handling system

International Nuclear Information System (INIS)

Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Shibanuma, Kiyoshi; Tesini, Alessandro

2008-01-01

The authors developed a simulator for the remote maintenance system of the ITER blanket using a general 3D robotic simulation software, ENVISION. The simulator is connected to the control system of the manipulator, which was developed as part of the blanket maintenance system during the Engineering Design Activity (EDA), and can reconstruct the positions of the manipulator and blanket module using position data transmitted from motors through a LAN. In addition, it can provide virtual visual information (e.g., about the interface structures behind the blanket module) by making the module transparent on the screen. It can also be used for confirming a maintenance sequence before the actual operation. The simulator will be modified further, with addition of other necessary functions, and will finally serve as a prototype of the actual simulator for the blanket remote handling system, which will be procured as part of an in-kind contribution

Neuropeptide Y2 receptors in anteroventral BNST control remote fear memory depending on extinction training.

Science.gov (United States)

Verma, Dilip; Tasan, Ramon; Sperk, Guenther; Pape, Hans-Christian

2018-03-01

The anterior bed nucleus of stria terminalis (BNST) is involved in reinstatement of extinguished fear, and neuropeptide Y2 receptors influence local synaptic signaling. Therefore, we hypothesized that Y2 receptors in anteroventral BNST (BNSTav) interfere with remote fear memory and that previous fear extinction is an important variable. C57BL/6NCrl mice were fear-conditioned, and a Y2 receptor-specific agonist (NPY 3-36 ) or antagonist (JNJ-5207787) was applied in BNSTav before fear retrieval at the following day. Remote fear memory was tested on day 16 in two groups of mice, which had (experiment 1) or had not (experiment 2) undergone extinction training after conditioning. In the group with extinction training, tests of remote fear memory revealed partial retrieval of extinction, which was prevented after blockade of Y2 receptors in BNSTav. No such effect was observed in the group with no extinction training, but stimulation of Y2 receptors in BNSTav mimicked the influence of extinction during tests of remote fear memory. Pharmacological manipulation of Y2 receptors in BNSTav before fear acquisition (experiment 3) had no effect on fear memory retrieval, extinction or remote fear memory. Furthermore, partial retrieval of extinction during tests of remote fear memory was associated with changes in number of c-Fos expressing neurons in BNSTav, which was prevented or mimicked upon Y2 blockade or stimulation in BNSTav. These results indicate that Y2 receptor manipulation in BNSTav interferes with fear memory and extinction retrieval at remote stages, likely through controlling neuronal activity in BNSTav during extinction training. Copyright © 2018 Elsevier Inc. All rights reserved.

Co-operation and Haptic Assistance for Tele-manipulated Control over Two Asymmetric Slaves

NARCIS (Netherlands)

van Oosterhout, J.

2018-01-01

The success of future fusion power plants as a sustainable energy source greatly depends on their uptime. This uptime relies on the plant's maintenance, which must be performed via tele-manipulation. Tele-manipulated maintenance is challenging, as exemplified by strictly selected and highly trained

Remote radiation mapping and preliminary intervention using collaborating (European and Russian) mobile robots

International Nuclear Information System (INIS)

Piotrowski, L.; Trouville, B.; Halbach, M.; Sidorkin, N.

1996-12-01

The primary objective of the IMPACT project is to develop a light-weight and inexpensive mobile robot that can be used for rapid inspection missions within nuclear power plants. These interventions are to cover normal, incident and accident situations and aim at primary reconnaissance (or 'data collecting') missions. The IMPACT robot was demonstrated (April 1996) in a realistic mission at the Russian nuclear plant SMOLENSK. The demonstration, composed of 2 independent but consecutive missions, was held in a radioactive zone near turbine ≠ 4 of Unit 2: remote radiation mapping with localisation of radioactive sources by the IMPACT robot equipped with a (Russian) gamma-radiation sensor; deployment of a Russian intervention robot for the construction of a protective lead shield around one of the identified sources and verification that the ambient radiation level has been reduce. This mission was executed remotely by 2 mobile robots working in collaboration: a NIKIMT robot equipped with a manipulator arm and carrying leads bricks and the IMPACT robot of mission I (radiation measurements and 'side-observer'). This manuscript describes (a) the technical characteristics of the IMPACT reconnaissance robot (3-segmented, caterpillar-tracked body; 6 video cameras placed around the mobile platform with simultaneous presentation of up to 4 video images at the control post; ability to detach remotely one of the robot's segments (i.e. the robot can divide itself into 2 separate mobile robots)) and (b) the SMOLENSK demonstration. (author)

Emulating a robotic manipulator arm with an hybrid motion-control system

International Nuclear Information System (INIS)

Aragón-González, G; León-Galicia, A; Noriega-Hernández, M; Salazar-Hueta, A

2015-01-01

A motion control system with four and 1/2 degrees of freedom, designed to move small objects within a 0.25 m3 space, parallel to a horizontal table, with high speed and performance similar to a robotic manipulator arm was built. The machine employs several actuators and control devices. Its main characteristic is to incorporate a servomotor, steeper motors, electromechanical and fluid power actuators and diverse control resources. A group of actuators arranged on a spherical coordinates system is attached to the servomotor platform. A linear pneumatic actuator with an angular grip provides the radial extension and load clamping capacity. Seven inductive proximity sensors and one encoder provide feedback, for operating the actuators under closed loop conditions. Communication between the sensors and control devices is organized by a PLC. A touch screen allows governing the system remotely, easily and interactively, without knowing the specific programming language of each control component. The graphic environment on the touch screen guides the user to design and store control programs, establishing coordinated automatic routines for moving objects in space, simulation and implementation of industrial positioning or machining processes

TMI-2 [Three Mile Island Nuclear Power Station] fuel canister and core sample handling equipment used in INEL hot cells

International Nuclear Information System (INIS)

McConnell, J.W. Jr.; Shurtliff, W.T.; Lynch, R.J.; Croft, K.M.; Whitmill, L.J.; Allen, S.M.

1987-01-01

This paper describes the specialized remote handling equipment developed and used at the Idaho National Engineering Laboratory (INEL) to handle samples obtained from the core of the damaged Unit 2 reactor at Three Mile Island Nuclear Power Station (TM-2). Samples of the core were removed, placed in TMI-2 fuel canisters, and transported to the INEL. Those samples will be examined as part of the analysis of the TMI-2 accident. The equipment described herein was designed for removing sample materials from the fuel canisters, assisting with initial examination, and processing samples in preparation for detailed examinations. The more complex equipment used microprocessor remote controls with electric motor drives providing the required force and motion capabilities. The remaining components were unpowered and manipulator assisted

Digital remote control system for power supplies of particle channel magnetooptical elements

International Nuclear Information System (INIS)

Vetrov, P.B.; Ermolina, G.P.; Kuznetsov, V.S.; Mojbenko, A.N.

1986-01-01

Current control of magnetooptical elements of accelerator particle channels is based on control of reference voltage of current stabilizers. Advent of industrial multidigit (12 bits) integral analog-to-digital converters permitted to develop simple digital sources of reference voltage. A digital control system of 30 spatially remoted power supplies of magnetooptical elements of particle channels on the basis of the ''Elektronika-60'' microcomputer is described. The microcomputer is connected by the standard communication line (20 mA) with the SM-4 computer. The ''Summa'' crate is connected with the microcomputer through the branch driver. Digit data are transmitted by the multibranch trunk of sequential communication (Manchester-2 code) at the rate of 0.5 Mband. Feedback was realized by connection of analog signals through the distributed commutator to the measuring line with a digital voltmeter

On-chip remote charger model using plasmonic island circuit

Directory of Open Access Journals (Sweden)

J. Ali

2018-06-01

Full Text Available We propose the remote charger model using the light fidelity (LiFi transmission and integrate microring resonator circuit. It consists of the stacked layers of silicon-graphene-gold materials known as a plasmonic island placed at the center of the modified add-drop filter. The input light power from the remote LiFi can enter into the island via a silicon waveguide. The optimized input power is obtained by the coupled micro-lens on the silicon surface. The induced electron mobility generated in the gold layer by the interfacing layer between silicon-graphene. This is the reversed interaction of the whispering gallery mode light power of the microring system, in which the generated power is fed back into the microring circuit. The electron mobility is the required output and obtained at the device ports and characterized for the remote current source applications. The obtained calculation results have shown that the output current of ∼2.5 × 10−11 AW−1, with the gold height of 1.0 µm and the input power of 5.0 W is obtained at the output port, which is shown the potential application for a short range free pace remote charger.

Minimum cost solution of wind–photovoltaic based stand-alone power systems for remote consumers

International Nuclear Information System (INIS)

Kaldellis, J.K.; Zafirakis, D.; Kavadias, K.

2012-01-01

Renewable energy sources (RES) based stand-alone systems employing either wind or solar power and energy storage comprise a reliable energy alternative, on top of conventional diesel-electric generator sets, commonly used by remote consumers. However, such systems usually imply the need for oversizing and considerable energy storage requirements leading to relatively high costs. On the other hand, hybrid configurations that may exploit both wind and solar potential of a given area may considerably reduce energy storage capacity and improve the economic performance of the system. In this context, an integrated techno-economic methodology for the evaluation of hybrid wind–photovoltaic stand-alone power systems is currently developed, aiming at the designation of optimum configurations for a typical remote consumer, using economic performance criteria. For the problem investigation, the developed evaluation model is applied to four representative areas of the Greek territory with different wind potential characteristics in order to obtain optimum configurations on the basis of minimum initial investment, 10-year and 20-year total cost. According to the results obtained, the proposed solution is favorably compared with all other stand-alone energy alternatives, reflecting the ability of hybrid systems to adjust even in areas where the local RES potential is not necessarily of high quality. - Highlights: ► Wind- and PV-stand alone systems often imply use of extreme battery capacity. ► Hybrid wind–PV systems may reduce energy storage requirements and associated costs. ► An optimization methodology is developed, based on economic performance criteria. ► Methodology is applied to four Greek regions of different wind potential. ► Results obtained reflect the hybrid solution's advantages over other alternatives.

Development of a Cost-Effective Solar/Diesel Independent Power Plant for a Remote Station

Directory of Open Access Journals (Sweden)

Okeolu Samuel Omogoye

2015-01-01

Full Text Available The paper discusses the design, simulation, and optimization of a solar/diesel hybrid power supply system for a remote station. The design involves determination of the station total energy demand as well as obtaining the station solar radiation data. This information was used to size the components of the hybrid power supply system (HPSS and to determine its configuration. Specifically, an appropriate software package, HOMER, was used to determine the number of solar panels, deep-cycle batteries, and rating of the inverter that comprise the solar section of the HPSS. A suitable diesel generator was also selected for the HPSS after careful technical and cost analysis of those available in the market. The designed system was simulated using the HOMER software package and the simulation results were used to carry out the optimization of the system. The final design adequately meets the station energy requirement. Based on a life expectancy of twenty-five years, a cost-benefit analysis of the HPSS was carried out. This analysis shows that the HPSS has a lower cost as compared to a conventional diesel generator power supply, thus recommending the HPSS as a more cost-effective solution for this application.

Development of a standard methodology for optimizing remote visual display for nuclear-maintenance tasks

International Nuclear Information System (INIS)

Clarke, M.M.; Garin, J.; Preston-Anderson, A.

1981-01-01

The aim of the present study is to develop a methodology for optimizing remote viewing systems for a fuel recycle facility (HEF) being designed at Oak Ridge National Laboratory (ORNL). An important feature of this design involves the Remotex concept: advanced servo-controlled master/slave manipulators, with remote television viewing, will totally replace direct human contact with the radioactive environment. Therefore, the design of optimal viewing conditions is a critical component of the overall man/machine system. A methodology has been developed for optimizing remote visual displays for nuclear maintenance tasks. The usefulness of this approach has been demonstrated by preliminary specification of optimal closed circuit TV systems for such tasks

Application of advanced remote systems technology to future waste handling facilities

International Nuclear Information System (INIS)

Kring, C.T.; Meacham, S.A.

1987-01-01

The Consolidated Fuel Reprocessing Program (CFRP) at Oak Ridge National Laboratory (ORNL) has been advancing the technology of remote handling and remote maintenance for in-cell systems planned for future nuclear fuel reprocessing plants. Much of the experience and technology developed over the past decade in this endeavor is directly applicable to the proposed in-cell systems being considered for the facilities of the Federal Waste Management System (FWMS). The application of teleoperated, force-reflecting servomanipulators with television viewing could be a major step forward in waste handling facility design. Primary emphasis in the current program is the operation of a prototype remote handling and maintenance system, the advanced servomanipulator (ASM), which specifically addresses the requirements of fuel reprocessing and waste handling with emphasis on force reflection, remote maintainability, reliability, radiation tolerance, and corrosion resistance. Concurrent with the evolution of dexterous manipulators, concepts have also been developed that provide guidance for standardization of the design of the remotely operated and maintained equipment, the interface between the maintenance tools and the equipment, and the interface between the in-cell components and the facility

Manipulator for testing a top-opened reactor pressure vessel

International Nuclear Information System (INIS)

Bauer, R.; Kastl, H.

1991-01-01

The design is described of a manipulator to be inserted into the inside of reactor pressure vessels opened at the top. The main components of the manipulator include a fixed column protruding into the pressure vessel and a support which is slidable on the column and carries the bearing component for the measuring, testing, inspection and repair instruments. The device includes a driving equipment for the support as well as the power supply for the sets accommodated on the support, with the aim to reduce the failure rate of the manipulator as a whole, shorten the time necessary for its assembling and thus the time of staying in the reactor pressure vessel and, at the same time, make its maintenance and operation easier. (Z.S.). 13 figs

Mock-up test on key components of ITER blanket remote handling system

International Nuclear Information System (INIS)

Takeda, Nobukazu; Kakudate, Satoshi; Nakahira, Masataka; Matsumoto, Yasuhiro; Taguchi, Koh; Kozaka, Hiroshi; Shibanuma, Kiyoshi; Tesini, Alessandro

2009-01-01

The maintenance operation of the ITER in-vessel component, such as a blanket and divertor, must be executed by the remote equipment because of the high gamma-ray environment. During the Engineering Design Activity (EDA), the Japan Atomic Energy Agency (then called as Japan Atomic Energy Research Institute) had been fabricated the prototype of the vehicle manipulator system for the blanket remote handling and confirmed feasibility of this system including automatic positioning of the blanket and rail deployment procedure of the articulated rail. The ITER agreement, which entered into force in the last year, formally decided that Japan will procure the blanket remote handling system and the JAEA, as the Japanese Domestic Agency, is continuing several R and Ds so that the system can be procured smoothly. The residual key issues after the EDA are rail connection and cable handling. The mock-ups of the rail connection mechanism and the cable handling system were fabricated from the last year and installed at the JAEA Naka Site in this March. The former was composed of the rail connecting mechanism, two rail segments and their handling systems. The latter one utilized a slip ring, which implemented 80 lines for power and 208 lines for signal, because there is an electrical contact between the rotating spool and the fixed base. The basic function of these systems was confirmed through the mock-up test. The rail connection mechanism, for example, could accept misalignment of 1.5-2 mm at least. The future test plan is also mentioned in the paper.

Development of a standard methodology for optimizing remote visual display for nuclear maintenance tasks

Science.gov (United States)

Clarke, M. M.; Garin, J.; Prestonanderson, A.

A fuel recycle facility being designed at Oak Ridge National Laboratory involves the Remotex concept: advanced servo-controlled master/slave manipulators, with remote television viewing, will totally replace direct human contact with the radioactive environment. The design of optimal viewing conditions is a critical component of the overall man/machine system. A methodology was developed for optimizing remote visual displays for nuclear maintenance tasks. The usefulness of this approach was demonstrated by preliminary specification of optimal closed circuit TV systems for such tasks.

Reduction in adipose tissue volume using a new high-power radiofrequency technology combined with infrared light and mechanical manipulation for body contouring

OpenAIRE

Adatto, Maurice A.; Adatto-Neilson, Robyn M.; Morren, Grietje

2014-01-01

A growing patient demand for a youthful skin appearance with a favorable body shape has led to the recent development of new noninvasive body contouring techniques. We have previously demonstrated that the combination of bipolar radiofrequency (RF) and optical energies with tissue manipulation is an efficient reshaping modality. Here, we investigated the efficacy and safety of a new high-power version of this combined technology, in terms of adipose tissue reduction and skin tightening. Thirt...

Highly active vitrification plant remote handling operational experience and improvements

International Nuclear Information System (INIS)

Milgate, I.

1996-01-01

All the main process plant and equipment at the Sellafield Waste Vitrification Plant (WVP) is enclosed in heavily shielded concrete walled cells. There is a large quantity of relatively complex plant and equipment which must be remotely operated, maintained or replaced in-cell in a severe environment. The WVP has five in-cell polar cranes which are of modular construction to aid replacement of failed components. Each can be withdrawn into a shielded cell extension for decontamination and hands-on maintenance. The cells have a total of 80 through wall tube positions to receive Master Slave Manipulators (MSMs). The MSMs are used where possible for ''pick and place'' purposes but are often called upon to position substantial pieces of mechanical equipment and thus are subject to heavy loading and high failure rates. An inward flow of air is maintained in the active cells. The discharged air passes through a filter cell where remote damper operation filter changing and maintenance is carried out by means of a PAR3000 manipulator. A Nuclear Engineered Advanced Teleoperated Robot (Neater) swabs the vitrified product container to ensure cleanliness before storage. There is a significant arising of solid radioactive waste from replaced in-cell items which undergoes sorting and size reduction in a breakdown cell equipped with a large reciprocating saw and a hydraulic shear. Improvements to the remote handling facilities made in the light of operational experience are described. (UK)

Remote distractor effects and saccadic inhibition: spatial and temporal modulation.

Science.gov (United States)

Walker, Robin; Benson, Valerie

2013-09-12

The onset of a visual distractor remote from a saccade target is known to increase saccade latency (the remote distractor effect [RDE]). In addition, distractors may also selectively inhibit saccades that would be initiated about 90 ms after distractor onset (termed saccadic inhibition [SI]). Recently, it has been proposed that the transitory inhibition of saccades (SI) may underlie the increase in mean latency (RDE). In a first experiment, the distractor eccentricity was manipulated, and a robust RDE that was strongly modulated by distractor eccentricity was observed. However, the underlying latency distributions did not reveal clear evidence of SI. A second experiment manipulated distractor spatial location and the timing of the distractor onset in relation to the target. An RDE was again observed with remote distractors away from the target axis and under conditions with early-onset distractors that would be unlikely to produce SI, whereas later distractor onsets produced an RDE along with some evidence of an SI effect. A third experiment using a mixed block of target-distractor stimulus-onset asynchronies (SOAs) revealed an RDE that varied with both distractor eccentricity and SOA and changes to latency distributions consistent with the timing of SI. We argue that the notion that SI underpins the RDE is similar to the earlier argument that express saccades underlie the fixation offset (gap) effect and that changes in mean latency and to the shape of the underlying latency distributions following a visual onset may involve more than one inhibitory process.

Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

International Nuclear Information System (INIS)

Saernmark, Ivan; Lenz, Herbert

2008-01-01

Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction

In-vessel remote maintenance of the Compact Ignition Tokamak

International Nuclear Information System (INIS)

Tabor, M.A.; Hager, E.R.; Creedon, R.L.; Fisher, M.V.; Atkin, S.D.

1987-01-01

The Compact Ignition Tokamak (CIT) is the first deuterium-tritium (D-T) fusion device that will study the physics of an ignited plasma. The ability of the tokamak vacuum vessel to be maintained remotely while under vacuum has not been fully demonstrated on previous machines, and this ability will be critical to the efficient and safe operation of ignition devices. Although manned entry into the CIT vacuum vessel will be possible during the nonactivated stages of operation, remotely automated equipment will be used to assist in initial assembly of the vessel as well as to maintain all in-vessel components once the D-T burn is achieved. Remote maintenance and operation will be routinely required for replacement of thermal protection tiles, inspection of components, leak detection, and repair welding activities. Conceptual design to support these remote maintenance activities has been integrated with the conceptual design of the in-vessel components to provide a complete and practical remote maintenance system for CIT. The primary remote assembly and maintenance operations on CIT will be accomplished through two dedicated 37- x 100-cm ports on the main toroidal vessel. Each port contains a single articulated boom manipulator (ABM), which is capable of accessing half of the torus. The proposed ABM consists of a movable carriage assembly, telescoping two-part mast, and articulated link sections. 1 ref

Association of remote dexterity and remote lifting for maintenance in fuel reprocessing industry

International Nuclear Information System (INIS)

Streiff, G.; Auchapt, P.; Vertut, J.

1984-01-01

The MA23M is an articulated bilateral servomanipulator with theoretically unlimited distance between master and slave stations. The last developments being carried on enable its good utilization in the large cells that will exist in the next reprocessing plants. Recent developments concerning computer aided operations like automatic TV tracking of the effector and manipulative assistance of MA23 and transporter enable realistic application in the large cells of the future reprocessing plants. In another hand manipulator containment, transfer and maintenance, in a glove box have been demonstrated. Concerning the in-cell process equipment to be maintained, extensive testing has shown that the association with a hoist is an excellent trade off in power and dexterity enabling solution of practically all expected or unexpected operations. According to the in-cell machinery and to the difficulty of the operation, one or two dextrous arms can be associated with one hoist. Dismantling of machines or dismantling of the whole facility will be possible by developing special tooling handled by the dextrous manipulator or, if too heavy, oriented by the manipulator but suspended to the hoist

Design and implementation of remote robotic control system for nuclear power plant application achieved through kinesthetic force feedback model

International Nuclear Information System (INIS)

Roy, D.

1995-01-01

The technology of telerobotic control through a universal and transparent Man-Machine Interface is a growing field of robotics research in today's industrial scenario because of its promising application in hazardous and unstructured environments. The joystick, a sophisticated information receiver-translator-transmitter device, serves as a Man-Machine Interface for telerobots. The present paper describes the development paradigms of a remote control system for a planar four degrees-of-freedom joystick following position feed-forward force/torque feedback strategy in a bi-lateral mode. This joystick based control technology is designed to actuate an industrial robot working in nuclear power plant. The remote control system has been illustrated with model, algorithm, electronic hardware and software routines along with experimental results in order to have effective telemanipulation

Synthetic viewing: Comprehensive work representation making remote work more transparent to the operator

International Nuclear Information System (INIS)

Leinemann, K.; Katz, F.; Knueppel, H.

1994-01-01

To support the operator remote handling a number of well-developed techniques is available like transmission of forces, movements, and dexterous skills in general using masterslave manipulators equipped with special tools. In addition several types of transporters are available to position manipulators and tools. But there is a serious bottle-neck in viewing: the number of cameras is restricted and the cameras may in most cases not be positioned as to provide sufficient information. In order to improve this situation an integration of closed-loop TV and artificial viewing by sensor controlled computer graphics has been introduced successfully by KfK at JET. This integrated viewing subsystem combines not only those two techniques by providing the two views but also enhances the conventional camera control by a computer graphics model-based control. Practical experience has shown that the concept of viewing needs to be extended. Just seeing where things are is insufficient for the operators to perform their remote handling task properly. More information is required about the status of all equipment pieces involved and about the status of the entire handling task. Viewing for remote handling applications needs to include the display of such status information in a suitable form

The development of computational algorithms for manipulator inverse kinematics

International Nuclear Information System (INIS)

Sasaki, Shinobu

1989-10-01

A solution technique of the inverse kinematics for multi-joint robot manipulators has been considered to be one of the most cumbersome treatment due to non-linearity properties inclusive of trigonometric functions. The most traditional approach is to use the Jacobian matrix on linearization assumptions. This iterative technique, however, is attended with numerical problems having significant influences on the solution characteristics such as initial guess dependence and singularities. Taking these facts into consideration, new approaches have been proposed from different standpoints, which are based on polynomial transformation of kinematic model, the minimization technique in mathematical programming, vector-geometrical concept, and the separation of joint variables associated with the optimization problem. In terms of computer simulations, each approach was identified to be a useful algorithm which leads to theoretically accurate solutions to complicated inverse problems. In this way, the short-term goal of our studies on manipulator inverse problem in the R and D project of remote handling technology was accomplished with success, and consequently the present report sums up the results of basic studies on this matter. (author)

Development of simulator for remote handling system of ITER blanket

International Nuclear Information System (INIS)

Takeda, Nobukazu; Kakudate, Satoshi; Nakanhira, Masataka; Matsumoto, Yasuhiro; Shibanuma, K.

2007-01-01

The maintenance activity in the ITER has to be performed remotely because 14 MeV neutron caused by fusion reaction induces activation of structural material and emission of gamma ray. In general, it is one of the most critical issues to avoid collision between the remote maintenance system and in-vessel components. Therefore, the visual information in the vacuum vessel is required strongly to understand arrangement of these devices and components. However, there is a limitation of arrangement of viewing cameras in the vessel because of high intensity of gamma ray. It is expected that enough numbers of cameras and lights are not available because of arrangement restriction. Furthermore, visibility of the interested area such as the contacting part is frequently disturbed by the devices and components, thus it is difficult to recognize relative position between the devices and components only by visual information even if enough cameras and lights are equipped. From these reasons, the simulator to recognize the positions of each devices and components is indispensable for remote handling systems in fusion reactors. The authors have been developed a simulator for the remote maintenance system of the ITER blanket using a general 3D robot simulation software ''ENVISION''. The simulator is connected to the control system of the manipulator which was developed as a part of the blanket maintenance system in the EDA and can reconstruct the positions of the manipulator and the blanket module using the position data of the motors through the LAN. In addition, it can provide virtual visual information, such as the connecting operation behind the blanket module with making the module transparent on the screen. It can be used also for checking the maintenance sequence before the actual operation. The developed simulator will be modified further adding other necessary functions and finally completed as a prototype of the actual simulator for the blanket remote handling system

Design of a control card for remote operation of the magnet power supply of microtron

International Nuclear Information System (INIS)

Khan, A.M.; Hanumaiah, B.; Ganesh; Siddappa, K.

2003-01-01

Full text: In this paper we report on a control card developed for remote operation of the magnet power supply of the Microtron. We have used a microcontroller, an ADC, a DAC and some circuit components to make the microcontroller perform the control operations according to the in built program. The value of the parameter to be controlled (i.e. the magnetic field) is given by the main program in the PC kept away from the system. When the user wants to use the magnet power supply system operate the microtron, he will switch ON the system and feed a particular value of the parameter (i.e. magnetic field in Gauss). This value is passed on to the control program in the microcontroller. With this value and the read back value obtained from the sensor the control card activates its control circuitary to maintain the system at the defined parameter value

Testing remotely operated module technique for Wackersdorf reprocessing plant at Lahde test rig

International Nuclear Information System (INIS)

Leister, P.; Schroeder, G.; Boehme, G.

1986-01-01

The FEMO technique represents a plant concept which makes it possible to carry out the repair of high and medium activity wet chemical stages of the process by remote handling without direct access by staff. For this purpose, the apparatus of this step of the process is arranged modularly in large cells, so that movable large handling devices such as cranes and manipulator systems can replace process components subject to wear via the process modules. The machine room of the former coal-fired power station Heyden I at Lahde was, after removal of the turbines and generators, converted to a hall in which the following test areas were accommodated: FEMO cell section with 10 positions for module, cell wall mock-up and wall penetration, module mounting area, module measuring position, workplace for service area, training position, welding position and FEMO control position. (orig./HP) [de

Virtual Realities: How Remote Dwelling Populations Become More Remote Over Time despite Technological Improvements

Directory of Open Access Journals (Sweden)

Dean Carson

2010-05-01

Full Text Available For those who have access to them, technologies of various sorts play a key role in maintaining connections between small and geographically dispersed settlements and to the wider World. For technologies to work in remote areas, there must be a framework of adaptability which ensures that users can adapt their practices to suit the new technology, technologies can be customised for local conditions, and an institutional infrastructure (including a regulatory environment allows these adaptations to occur. In recent times, remote Australia’s “power to persuade” government to consider its needs when designing regulatory environments has diminished as a result of the changing nature of remote economies. This paper uses two case examples—that of air transport technology and that of communications technology—to demonstrate how a poor regulatory environment in effect increases the isolation of remote settlements. In the case of air transport, over regulation has made the cost of adoption and access too high for many remote dwellers. In the case of communications technology, de-regulation has made it difficult for remote dwellers to demand equity of access to infrastructure. We conclude by suggesting that regulatory systems need to be more aware of the unique conditions facing remote populations. Research into the persistently low rates of technology adoption in remote areas needs to be more cognizant of the regulatory adaptability aspect.

A New Remotely Operated Sensor Platform for Interdisciplinary Observations under Sea Ice

Directory of Open Access Journals (Sweden)

Christian Katlein

2017-09-01

Full Text Available Observation of the climate and ecosystem of ice covered polar seas is a timely task for the scientific community. The goal is to assess the drastic and imminent changes of the polar sea ice cover induced by climate change. Retreating and thinning sea ice affects the planets energy budget, atmospheric, and oceanic circulation patterns as well as the ecosystem associated with this unique habitat. To increase the observational capabilities of sea ice scientists, we equipped a remotely operated vehicle (ROV as sensor platform for interdisciplinary research at the ice water interface. Here, we present the technical details and operation scheme of the new vehicle and provide data examples from a first campaign in the Arctic in autumn 2016 to demonstrate the vehicle's capabilities. The vehicle is designed for efficient operations in the harsh polar conditions. Redundant modular design allows operation by three scientists simultaneously operating a wide variety of sensors. Sensors from physical, chemical, and biological oceanography are combined with optical and acoustic sea ice sensors to provide a comprehensive picture of the underside of sea ice. The sensor suite provides comprehensive capabilities and can be further extended as additional ports for power and communication are available. The vehicle provides full six degrees of freedom in navigation, enabling intervention, and manipulation skills despite its simple one function manipulator arm.

Simulation for Remote Operation for REX10 Nuclear Reactor

International Nuclear Information System (INIS)

Lee, Sim Won; Kim, Dong Su; Na, Man Gyun; Lee, Yoon Joon; Lee, Yeon Gun; Park, Goon Cherl

2010-01-01

The newly designed REX10 (Regional Energy Reactor, 10MWth) is an environmentally-friendly and stable small nuclear reactor for a small-scale reactor based Multi-purpose regional energy system. The REX10 has been developed to maintain system safety in order to be placed in densely populated region, island, etc. In addition, it is significantly hard to recruit many operation and maintenance personnel for small power reactors differently from usual commercial reactors because of its remote location and of economic reasons. In order to overcome these constraints, to decrease the operation cost by reducing operation and maintenance personnel, and to increase plant reliability through autonomous plant control, it is needed to design the control system of the small power reactors and to establish its unmanned remote operation system. In this study, the REX10 reactor core thermal power controller is designed by using a REX10 code analyzer. The remote control facility through man-machine interface (MMI) design and interface between programming languages was established and it was used to verify remote operation of REX10

Power Quality Improvements in Wind Diesel Power Generation System

Directory of Open Access Journals (Sweden)

Omar Feddaoui

2015-08-01

Full Text Available Generation of electricity using diesel is costly for small remote isolated communities. At remote location electricity generation from renewable energy such as wind can help reduce the overall operating costs by reducing the fuel costs. However, the penetration of wind power into small diesel-based grids is limited because of its effect on power quality and reliability. This paper focuses on the combination of Wind Turbine and Diesel Generator systems for sustained power generation, to improve the power quality of wind generation system. The performances of the optimal control structure are assessed and discussed by means of a set of simulations.

Proceedings (slides, posters) of the 7. IAEA Technical Meeting on Control, Data Acquisition, and Remote Participation for Fusion Research

International Nuclear Information System (INIS)

2009-01-01

The main objective of this meeting is to present and discuss new developments and perspectives in the areas of control, data acquisition and remote participation for nuclear research around the world. The following topics have been covered: 1) plasma control, 2) machine control, monitoring, safety and remote manipulation, 3) data acquisition and signal processing, 4) database techniques for information storage and retrieval, 5) advanced computing and massive data analysis, 6) remote participation and virtual laboratory, 7) fast network technology and its application, and 8) ITER

Terahertz wave manipulation based on multi-bit coding artificial electromagnetic surfaces

Science.gov (United States)

Li, Jiu-Sheng; Zhao, Ze-Jiang; Yao, Jian-Quan

2018-05-01

A polarization insensitive multi-bit coding artificial electromagnetic surface is proposed for terahertz wave manipulation. The coding artificial electromagnetic surfaces composed of four-arrow-shaped particles with certain coding sequences can generate multi-bit coding in the terahertz frequencies and manipulate the reflected terahertz waves to the numerous directions by using of different coding distributions. Furthermore, we demonstrate that our coding artificial electromagnetic surfaces have strong abilities to reduce the radar cross section with polarization insensitive for TE and TM incident terahertz waves as well as linear-polarized and circular-polarized terahertz waves. This work offers an effectively strategy to realize more powerful manipulation of terahertz wave.

Global manipulation of digital images can lead to variation in cytological diagnosis.

Science.gov (United States)

Prasad, H; Wanjari, Sangeeta; Parwani, Rajkumar

2011-03-31

With the adoption of a completely electronic workflow by several journals and the advent of telepathology, digital imaging has become an integral part of every scientific research. However, manipulating digital images is very easy, and it can lead to misinterpretations. To analyse the impact of manipulating digital images on their diagnosis. Digital images were obtained from Papanicolaou-stained smears of dysplastic and normal oral epithelium. They were manipulated using GNU Image Manipulation Program (GIMP) to alter their brightness and contrast and color levels. A Power Point presentation composed of slides of these manipulated images along with the unaltered originals arranged randomly was created. The presentation was shown to five observers individually who rated the images as normal, mild, moderate or severe dysplasia. Weighted κ statistics was used to measure and assess the levels of agreement between observers. Levels of agreement between manipulated images and original images varied greatly among observers. Variation in diagnosis was in the form of overdiagnosis or under-diagnosis, usually by one grade. Global manipulations of digital images of cytological slides can significantly affect their interpretation. Such manipulations should therefore be kept to a minimum, and avoided wherever possible.

Nuclear Power Plant environment`s surveillance by satellite remote sensing and in-situ monitoring data

Science.gov (United States)

Zoran, Maria

The main environmental issues affecting the broad acceptability of nuclear power plant are the emission of radioactive materials, the generation of radioactive waste, and the potential for nuclear accidents. All nuclear fission reactors, regardless of design, location, operator or regulator, have the potential to undergo catastrophic accidents involving loss of control of the reactor core, failure of safety systems and subsequent widespread fallout of hazardous fission products. Risk is the mathematical product of probability and consequences, so lowprobability and high-consequence accidents, by definition, have a high risk. NPP environment surveillance is a very important task in frame of risk assessment. Satellite remote sensing data had been applied for dosimeter levels first time for Chernobyl NPP accident in 1986. Just for a normal functioning of a nuclear power plant, multitemporal and multispectral satellite data in complementarily with field data are very useful tools for NPP environment surveillance and risk assessment. Satellite remote sensing is used as an important technology to help environmental research to support research analysis of spatio-temporal dynamics of environmental features nearby nuclear facilities. Digital processing techniques applied to several LANDSAT, MODIS and QuickBird data in synergy with in-situ data are used to assess the extent and magnitude of radiation and non-radiation effects on the water, near field soil, vegetation and air. As a test case the methodology was applied for for Nuclear Power Plant (NPP) Cernavoda, Romania. Thermal discharge from nuclear reactors cooling is dissipated as waste heat in Danube-Black -Sea Canal and Danube River. Water temperatures captured in thermal IR imagery are correlated with meteorological parameters. If during the winter thermal plume is localized to an area of a few km of NPP, the temperature difference between the plume and non-plume areas being about 1.5 oC, during summer and fall , is

REMOTE IN-CELL SAMPLING IMPROVEMENTS PROGRAM AT THESAVANNAH RIVER SITE (SRS) DEFENSE WASTE PROCESSING FACILITY (DWPF)

International Nuclear Information System (INIS)

Marzolf, A

2007-01-01

Remote Systems Engineering (RSE) of the Savannah River National Lab (SRNL) in combination with the Defense Waste Processing Facility(DWPF) Engineering and Operations has evaluated the existing equipment and processes used in the facility sample cells for 'pulling' samples from the radioactive waste stream and performing equipment in-cell repairs/replacements. RSE has designed and tested equipment for improving remote in-cell sampling evolutions and reducing the time required for in-cell maintenance of existing equipment. The equipment within the present process tank sampling system has been in constant use since the facility start-up over 17 years ago. At present, the method for taking samples within the sample cells produces excessive maintenance and downtime due to frequent failures relative to the sampling station equipment and manipulator. Location and orientation of many sampling stations within the sample cells is not conducive to manipulator operation. The overextension of manipulators required to perform many in-cell operations is a major cause of manipulator failures. To improve sampling operations and reduce downtime due to equipment maintenance, a Portable Sampling Station (PSS), wireless in-cell cameras, and new commercially available sampling technology has been designed, developed and/or adapted and tested. The uniqueness of the design(s), the results of the scoping tests, and the benefits relative to in-cell operation and reduction of waste are presented

Remote Laboratories: Bridging University to Secondary Schools

Directory of Open Access Journals (Sweden)

Horácio Fernandes

2012-01-01

Full Text Available e-lab is a remote laboratory infrastructure powered by a software framework that allows the operation and data retrieve from a remote apparatus. In this demonstration we will present the e-lab interface properties and its modus operandi, giving as well some topics of complimentary software use for data interpretation and analysis.

Remote monitoring: An implementation on the Gemini System

International Nuclear Information System (INIS)

Sheridan, R.; Ondrik, M.; Kadner, S.; Resnik, W.; Chitumbo, K.; Corbell, B.

1996-01-01

The Gemini System consists of a sophisticated, digital surveillance unit and a high performance review system. Due to the open architectural design of the Gemini System, it provides an excellent hardware and software platform to support remote monitoring. The present Gemini System provides the user with the following Remote Monitoring features, via a modem interface and powerful support software: state-of-health reporting, alarm reporting, and remote user interface. Future enhancements will contribute significantly to the Gemini''s ability to provide a broader spectrum of network interfaces and remote review

A Power Hardware-in-the-Loop Platform with Remote Distribution Circuit Cosimulation

Energy Technology Data Exchange (ETDEWEB)

Palmintier, Bryan; Lundstrom, Blake; Chakraborty, Sudipta; Williams, Tess L.; Schneider, Kevin P.; Chassin, David P.

2015-04-01

This paper demonstrates the use of a novel cosimulation architecture that integrates hardware testing using Power Hardware-in-the-Loop (PHIL) with larger-scale electric grid models using off-the-shelf, non-PHIL software tools. This architecture enables utilities to study the impacts of emerging energy technologies on their system and manufacturers to explore the interactions of new devices with existing and emerging devices on the power system, both without the need to convert existing grid models to a new platform or to conduct in-field trials. The paper describes an implementation of this architecture for testing two residential-scale advanced solar inverters at separate points of common coupling. The same hardware setup is tested with two different distribution feeders (IEEE 123 and 8500 node test systems) modeled using GridLAB-D. In addition to simplifying testing with multiple feeders, the architecture demonstrates additional flexibility with hardware testing in one location linked via the Internet to software modeling in a remote location. In testing, inverter current, real and reactive power, and PCC voltage are well captured by the co-simulation platform. Testing of the inverter advanced control features is currently somewhat limited by the software model time step (1 sec) and tested communication latency (24 msec). Overshoot induced oscillations are observed with volt/VAR control delays of 0 and 1.5 sec, while 3.4 sec and 5.5 sec delays produced little or no oscillation. These limitations could be overcome using faster modeling and communication within the same co-simulation architecture.

Analysis of Bright Harvest Remote Analysis for Residential Solar Installations

Energy Technology Data Exchange (ETDEWEB)

Nangle, John [National Renewable Energy Lab. (NREL), Golden, CO (United States); Simon, Joseph [National Renewable Energy Lab. (NREL), Golden, CO (United States)

2015-06-17

Bright Harvest provides remote shading analysis and design products for residential PV system installers. The National Renewable Energy Laboratory (NREL) through the NREL Commercialization Assistance Program, completed comparative assessments between on-site measurements and remotely calculated values to validate the accuracy of Bright Harvest’s remote shading and power generation.

A Smart Layer For Remote Laboratories

Directory of Open Access Journals (Sweden)

Ricardo J. Costa

2007-08-01

Full Text Available Commonly, when a weblab is developed tosupport remote experiments in sciences and engineeringcourses, a particular hardware/software architecture isimplemented. However, the existence of severaltechnological solutions to implement those architecturesdifficults the emergence of a standard, both at hardwareand software levels. While particular solutions are adoptedassuming that only qualified people may implement aweblab, the control of the physical space and the powerconsumption are often forgotten. Since controlling these twoprevious aspects may increase the quality of the weblabhosting the remote experiments, this paper proposes the useof a new layer implemented by a domotic system bus withseveral devices (e.g. lights, power sockets, temperaturesensors, and others able to be controlled through theInternet. We also provide a brief proof-of-concept in theform of a weblab equipped with a simple domotic systemusually implemented in smart houses. The added value tothe remote experiment hosted at the weblab is also identifiedin terms of power savings and environment conditions.

Remote monitoring of VRLA batteries for telecommunications systems

Energy Technology Data Exchange (ETDEWEB)

Tsujikawa, Tomonobu; Matsushima, Toshio [NTT Facilities Inc., G.H.Y. Building, 2-13-1 Kita-Otsuka, Toshima-ku, Tokyo 170-0004 (Japan)

2007-05-25

This paper describes a remote monitoring system that can be set up in an operating center to monitor the state of valve regulated lead acid batteries (VRLA) used as a backup power supply for telecommunications. This system has a battery voltage monitoring function, a lifetime prediction function based on ambient temperature, and a discharge circuit diagnosis function. In addition, the system can be equipped with an internal resistance measurement function and an electrolyte leakage detection function to further insure power-supply reliability. Various states of batteries observed with the system are transmitted to the remote operating center by a remote monitoring function. This function enables obtaining immediate information about the condition of batteries and helps to avoid unexpected failures. (author)

The Robots for Nuclear Power Plants

International Nuclear Information System (INIS)

Choi, Chang Hwan; Kim, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil; Shin, Ho Cheol; Lee, Sung Uk; Jung, Kyung Min; Jung, Seung Ho; Choi, Young So

2005-01-01

Nuclear energy becomes a major energy source worldwide even though the debating environmental and safety dispute. In order to cope with the issues related to the nuclear power plant, the uncertain human factors need to be minimized by automating the inspection and maintenance work done by human workers. The demands of robotic system in nuclear industry have been growing to ensure the safety of nuclear facilities, to detect early unusual condition of it through an inspection, to protect the human workers from irradiation, and to maintain it efficiently. NRL (Nuclear Robotics Laboratory) in KAERI has been developing robotic systems to inspect and maintain nuclear power plants in stead of human workers for over thirteen years. In order to carry out useful tasks, a nuclear robot generally requires the followings. First, the robot should be protected against radiation. Second, a mobile system is required to access to the work place. Third, a kind of manipulator is required to complete the tasks such as handling radioactive wastes and other contaminated objects, etc. Fourth, a sensing system such as cameras, ultrasonic sensors, temperature sensors, dosimetry equipments etc., are required for operators to observe the work place. Lastly, a control system to help the operators control the robots. The control system generally consists of a supervisory control part and remote control part. The supervisory control part consists of a man-machine interface such as 3D graphics and a joystick. The remote control part manages the robot so that it follow the operator's command

Design Scheme of Remote Monitoring System Based on Qt

Directory of Open Access Journals (Sweden)

Xu Dawei

2015-01-01

Full Text Available This paper introduces a design scheme of remote monitoring system based on Qt, the scheme of remote monitoring system based on S3C2410 and Qt, with the aid of cross platform development tools Qt and powerful ARM platform design and implementation. The development of remote video surveillance system based on embedded terminal has practical significance and value.

Single-photon manipulation in Nanophotonic Circuits

DEFF Research Database (Denmark)

Hansen, Sofie Lindskov

Quantum dots in photonic nanostructures has long been known to be a very powerful and versatile solid-state platform for conducting quantum optics experiments. The present PhD thesis describes experimental demonstrations of single-photon generation and subsequent manipulation all realized...... on a gallium arsenide platform. This platform offers near-unity coupling between embedded single-photon emitters and a photonic mode, as well as the ability to suppress decoherence mechanisms, making it highly suited for quantum information applications. In this thesis we show how a single-photon router can...... be realized on a chip with embedded quantum dots. This allows for on-chip generation and manipulation of single photons. The router consists of an on-chip interferometer where the phase difference between the arms of the interferometer is controlled electrically. The response time of the device...

Acoustic manipulation: Bessel beams and active carriers

Science.gov (United States)

Rajabi, Majid; Mojahed, Alireza

2017-10-01

In this paper, we address the interaction of zero-order acoustic Bessel beams as an acoustic manipulation tool, with an active spherical shell, as a carrier in drug, agent, or material delivery systems, in order to investigate the controllability of exerted acoustic radiation force as the driver. The active body is comprised of a spherical elastic shell stimulated in its monopole mode of vibrations with the same frequency as the incident wave field via an internally bonded and spatially uniformly excited piezoelectric actuator. The main aim of this work is to examine the performance of a nondiffracting and self-reconstructing zero-order Bessel beam to obtain the full manipulability condition of active carriers in comparison with the case of a plane wave field. The results unveil some unique potentials of the Bessel beams in the company of active carriers, with emphasis on the consumed power of the actuation system. This paper will widen the path toward the single-beam robust acoustic manipulation techniques and may lead to the prospect of combined tweezers and fields, with applications in delivery systems, microswimmers, and trapper designs.

Effect of sacroiliac manipulation on postural sway in quiet standing: a randomized controlled trial.

Science.gov (United States)

Farazdaghi, Mohammad Reza; Motealleh, Alireza; Abtahi, Forough; Panjan, Andrej; Šarabon, Nejc; Ghaffarinejad, Farahnaz

Sacroiliac joint manipulation can alter joint and muscle control mechanisms through local and remote effects. Postural balance is controlled by supraspinal (rambling) and spinal-peripheral (trembling) mechanisms. A manipulation may interfere with postural control in quiet standing. To evaluate the immediate effects of sacroiliac joint manipulation on postural control in patients with (1) sacroiliac dysfunction and (2) to determine whether rambling and trembling are affected by sacroiliac joint manipulation. 32 patients aged between 20 and 50 years old were selected by convenience after confirmation of sacroiliac joint dysfunction by clinical examination. These patients were randomly allocated either to manipulation or sham manipulation group. Displacement, velocity and frequency of the center of pressure, rambling and trembling in the anterior-posterior and medial-lateral directions were our primary outcomes and analyzed immediately before and after the intervention in quiet standing. The physical therapists who performed the physical, biomechanical and statistical examinations, were all blinded to the patients' grouping. No differences were found between the two groups but trembling velocity (0.14 and -0.11 for intervention and sham group, respectively) and frequency (0.17 and 0.11 for intervention and sham group respectively) increased after intervention in the treatment group in the anterior-posterior direction. Generally, sacroiliac joint manipulation had no superiority than sham treatment regarding postural control as measured by rambling-trembling analysis of center of pressure. Manipulation may increase muscle activation in the treatment group due to increased trembling parameters. Trial number: IRCT2014072715932N8 - http://www.irct.ir/searchresult.php?keyword=%D8%B3%D9%88%DB%8C%D9%87&id=15932&field=&number=8&prt=13&total=10&m=1. Copyright © 2017 Associação Brasileira de Pesquisa e Pós-Graduação em Fisioterapia. Publicado por Elsevier Editora Ltda. All

Web Development Techniques and Remote Laboratories

Directory of Open Access Journals (Sweden)

Doru Ursutiu

2009-08-01

Full Text Available In the actual context of the world economic and financial crisis, any source that causes economy is welcomed. In the technical educational system such a source is represented by the implementation of remote labs. These allow, among other things, the sharing of modern technology between several centers and also the saving of power by using an adequate energetic management. This paper presents a solution for implementing remote labs by using web technologies that are platform independent from the client point of view. Such a lab implementation exemplification is materialized by remote controlling the NI-ELVIS platform.

Evaluation methodology of a manipulator actuator for the dismantling process during nuclear decommissioning

International Nuclear Information System (INIS)

Park, Jongwon; Kim, Chang-Hoi; Jeong, Kyung-min; Choi, Byung-Seon; Moon, Jeikwon

2016-01-01

Highlights: • A methodology to evaluate actuators of a dismantling manipulator. • Evaluation criteria for choosing the most suitable actuator type. • A mathematical evaluation model for evaluation. • The evaluation method is expected to be used for determining other manipulators. - Abstract: This paper presents a methodology to evaluate actuators of a manipulator for dismantling nuclear power plants. Actuators are the most dominant components because a dismantling manipulator relies heavily on the actuator type used. To select the most suitable actuator, evaluation criteria are presented in four categories based on the nuclear dismantling environment. A mathematical model is presented and evaluation results are calculated with weights and scores for each criterion. The proposed evaluation method is expected to be used for determining other aspects of the design of dismantling manipulators.

The ITER remote maintenance system

International Nuclear Information System (INIS)

Tesini, A.; Palmer, J.

2007-01-01

ITER is a joint international research and development project that aims to demonstrate the scientific and technological feasibility of fusion power. As soon as the plasma operation begins using tritium, the replacement of the vacuum vessel internal components will need to be done with remote handling techniques. To accomplish these operations ITER has equipped itself with a Remote Maintenance System; this includes the Remote Handling equipment set and the Hot Cell facility. Both need to work in a cooperative way, with the aim of minimizing the machine shutdown periods and to maximize the machine availability. The ITER Remote Handling equipment set is required to be available, robust, reliable and retrievable. The machine components, to be remotely handle-able, are required to be designed simply so as to ease their maintenance. The baseline ITER Remote Handling equipment is described. The ITER Hot Cell Facility is required to provide a controlled and shielded area for the execution of repair operations (carried out using dedicated remote handling equipment) on those activated components which need to be returned to service, inside the vacuum vessel. The Hot Cell provides also the equipment and space for the processing and temporary storage of the operational and decommissioning radwaste. A conceptual ITER Hot Cell Facility is described. (orig.)

Wireless remote feeding for power supply of autarkic micro systems; Drahtlose Fernspeisung zur Energieversorgung autarker Mikrosysteme

Energy Technology Data Exchange (ETDEWEB)

Ungan, Tolgay

2011-07-01

Wireless power supply via a magnetic or electromagnetic field represents the most common energy supply of a battery-free micro system. The electronics of the micro system requires a minimum voltage for proper operation. Therefore it appears that the maximum working range is the distance at which this minimum voltage of the field no longer be taken. In typical applications, it is roughly the diameter of the antenna or coil of the reader. The voltage at the feeding point of the antenna is determined with the same irradiated field by the impedance of the antenna. If the range of the remote power is to be maximized, then this impedance has to be maximized. By achieving a very high impedance, even the use of an already existing source of radiation (radio, television or cell phone) could be used for powering a batteryless microsystem. The necessary conditions and limitations are indicated in this work theoretically as well as practically. Since the transformation of the voltage is proportional to the loaded quality factor and conventional air coils have a maximum quality factor of 150, they are unsuitable for efficient remote supply at low input powers. To solve this problem, a new method is developed to transformate the impedance using a quartz resonator with high quality factor. The resonators (quarts / SAW) are used as inductances with high quality to maximise the impedance and therefore the transformation of the voltage. Therefore the system can very efficiently adapt the antenna impedance to the high impedance input of the rectifier circuit. Experiments have shown that a rectified output voltage of more than 1 volt can be achieved from an antenna voltage of 7 mV at an input power of 1 muW (-30 dBm). The analytic and numerical description of the whole circuit delivers determining knowledge about the choice of the system components (resonator and diode). From the won knowledge of the overall system draughts are derived for special applications and their borders are

Media and manipulation

Directory of Open Access Journals (Sweden)

Kovačević Braco

2013-01-01

Full Text Available The role and importance of the media are huge, both in everyday life and in cultural, spiritual and political life of modern man. Their power in the sense of political shaping of people and shaping of public opinion is very distinctive. In the process of propaganda to influence public opinion, they use various manipulative procedures in order to accomplish certain interests and objectives. Through the media, politics realizes its economic, ideological, political and even military activities. The war in the former Yugoslavia and former Bosnia and Herzegovina was also waged through the media. This media war still is spreading the hate speech, thus still causing conflicts and disintegration processes in the Balkans.

Control room concept for remote maintenance in high radiation areas

International Nuclear Information System (INIS)

Clarke, M.M.; Kreifeldt, J.G.

1984-01-01

This paper summarizes the design of a control room concept for an operator interface with remote maintenance equipment consisting of force-reflecting manipulators, tools, hoists, cranes, cameras, and lights. The design development involved two major activities. First, detailed requirements were defined for foreseeable functions that will be performed by the control room operators. Second, concepts were developed, tested, and refined to meet these requirements. 6 references, 3 figures

Currency Manipulation versus Current Account Manipulation

OpenAIRE

Junning Cai

2005-01-01

It is said that a country’s currency peg can become currency manipulation representing protracted government intervention in the foreign exchange market that gives it unfair competitive advantage in international trade yet prevents effective balance of payments in its trade partners. Regarding this widespread fallacy, this paper explains why currency peg is not currency manipulation even when it keeps a country’s currency undervalued. We clarify that 1) government is inherently a major player...

Evaluation of the revised electrolytic reduction reactor from a remote operability aspect

Energy Technology Data Exchange (ETDEWEB)

Lee, Hyo Jik; Yoon, K. H.; Kim, K. H. (and others)

2008-01-15

This report presents an evaluation of the remote operability of the revised electrolytic reduction (ER) reactor installed in the ACP at KAERI. All operations have to be implemented in a fully remote manner since the ACPF is a hotcell for handling highly radioactive materials such as spent nuclear fuels. In particular, the ER process is a key process of the Advanced spent fuel Conditioning Process (ACP) and it needs a lot of other auxiliary equipment to perform it. Also, since the ER equipment is too big and complicated, and contrarily the ACPF is not big enough, and one common rail is allotted for a bridge transported servo manipulator, an in-cell crane and a gate crane, a remote handling of the ER reactor is accompanied by a difficulty for a remote operation. For an easy understanding, short overview of the ER process, the remote handling equipment, the structural configuration of the ACPF and the detail drawings of the ER equipment are presented. Through 4 month-remote operational tests, detailed operational procedures are presented along with pictures. The remote handling equipment and tools required in each operation are addressed in detail. Also, the procedure to implement each remote operation, and a task difficulty are evaluated from a remote operability aspect. All the remote tasks are distinguished according to whether a remote operation can be performed or not. Finally, partial improvement or an idea to solve the suggested problems is presented. This report will assist in modifying or scaling up the ER reactor.