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Sample records for robotic dismantlement systems

  1. Achievements and prospects of robotics in dismantling operations

    International Nuclear Information System (INIS)

    Clement, G.; Goetghebeur, S.; Ravera, J.P.

    1993-01-01

    After a definition of 'robotic systems' (poly functionality is the main concept), the nuclear facilities that have used robotic systems for their dismantling are reviewed; the various robot intervention domains in dismantling, the different types of machines and the work carried out by robots are presented. Difficulties arising from robot utilization for reactor dismantling, robot design considerations, reliability, personnel training needs, tooling and costs are discussed. Applicability criteria are derived concerning radio protection, hard working conditions, task complexity, multiplicity and quality, and costs

  2. 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)

  3. Advanced robotics for decontamination and dismantlement

    International Nuclear Information System (INIS)

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

    1994-01-01

    The decontamination and dismantlement (D ampersand D) robotics technology application area of the US Department of Energy's Robotics Technology Development Program is explained and described. D ampersand D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized. Future research directions for these and emerging activities is given

  4. Cleanup and Dismantling of Highly Contaminated Ventilation Systems Using Robotic Tools - 13162

    International Nuclear Information System (INIS)

    Chambon, Frederic; CIZEL, Jean-Pierre; Blanchard, Samuel

    2013-01-01

    The UP1 plant reprocessed nearly 20,000 tons of used natural uranium gas cooled reactor fuel coming from the first generation of civil nuclear reactors in France. Following operating incidents in the eighties, the ventilation system of the continuous dissolution line facility was shut down and replaced. Two types of remote controlled tool carriers were developed to perform the decontamination and dismantling operations of the highly contaminated ventilation duct network. The first one, a dedicated small robot, was designed from scratch to retrieve a thick powder deposit within a duct. The robot, managed and confined by two dedicated glove boxes, was equipped for intervention inside the ventilation duct and used for carrying various cleanup and inspection tools. The second type, consisting of robotic tools developed on the base of an industrial platform, was used for the clean-up and dismantling of the ventilation duct system. Depending on the type of work to be performed, on the shape constraints of the rooms and any equipment to be dismantled, different kinds of robotic tools were developed and installed on a Brokk 40 carrier. After more than ten years of ventilation duct D and D operations at the UP1 plant, a lot of experience was acquired about remote operations. The three main important lessons learned in terms of remote controlled operation are: characterizing the initial conditions as much as reasonably possible, performing non-radioactive full scale testing and making it as simple and modular as possible. (authors)

  5. Cleanup and Dismantling of Highly Contaminated Ventilation Systems Using Robotic Tools - 13162

    Energy Technology Data Exchange (ETDEWEB)

    Chambon, Frederic [AREVA FEDERAL SERVICES, Columbia MD (United States); CIZEL, Jean-Pierre [AREVA BE/NV, Marcoule (France); Blanchard, Samuel [CEA DEN/DPAD, Marcoule (France)

    2013-07-01

    The UP1 plant reprocessed nearly 20,000 tons of used natural uranium gas cooled reactor fuel coming from the first generation of civil nuclear reactors in France. Following operating incidents in the eighties, the ventilation system of the continuous dissolution line facility was shut down and replaced. Two types of remote controlled tool carriers were developed to perform the decontamination and dismantling operations of the highly contaminated ventilation duct network. The first one, a dedicated small robot, was designed from scratch to retrieve a thick powder deposit within a duct. The robot, managed and confined by two dedicated glove boxes, was equipped for intervention inside the ventilation duct and used for carrying various cleanup and inspection tools. The second type, consisting of robotic tools developed on the base of an industrial platform, was used for the clean-up and dismantling of the ventilation duct system. Depending on the type of work to be performed, on the shape constraints of the rooms and any equipment to be dismantled, different kinds of robotic tools were developed and installed on a Brokk 40 carrier. After more than ten years of ventilation duct D and D operations at the UP1 plant, a lot of experience was acquired about remote operations. The three main important lessons learned in terms of remote controlled operation are: characterizing the initial conditions as much as reasonably possible, performing non-radioactive full scale testing and making it as simple and modular as possible. (authors)

  6. Robotic dismantlement systems at the CP-5 reactor D and D project

    International Nuclear Information System (INIS)

    Seifert, L. S.

    1998-01-01

    The Chicago Pile 5 (CP-5) Research Reactor Facility is currently undergoing decontamination and decommissioning (D and D) at the Argonne National Laboratory (ANL) Illinois site. CP-5 was the principle nuclear reactor used to produce neutrons for scientific research at Argonne from 1954 to 1979. The CP-5 reactor was a heavy-water cooled and moderated, enriched uranium-fueled reactor with a graphite reflector. The CP-5 D and D project includes the disassembly, segmentation and removal of all the radioactive components, equipment and structures associated with the CP-5 facility. The Department of Energy's Robotics Technology Development Program and the Federal Energy Technology Center, Morgantown Office provided teleoperated, remote systems for use in the dismantlement of the CP-5 reactor assembly for tasks requiring remote dismantlement as part of the EM-50 Large-Scale Demonstration Program (LSDP). The teleoperated systems provided were the Dual Arm Work Platform (DAWP), the Rosie Mobile Teleoperated Robot Work System (ROSIE), and a remotely-operated crane control system with installed swing-reduction control system. Another remotely operated apparatus, a Brokk BM250, was loaned to ANL by the Princeton Plasma Physics Laboratory (PPPL). This machine is not teleoperated and was not part of the LSDP, but deserves some mention in this discussion. The DAWP is a robotic dismantlement system that includes a pair of Schilling Robotic Systems Titan III hydraulic manipulator arms mounted to a specially designed support platform: a hydraulic power unit (HPU) and a remote operator console. The DAWP is designed to be crane-suspended for remote positioning. ROSIE, developed by RedZone Robotics, Inc. is a mobile, electro-hydraulic, omnidirectional platform with a heavy-duty telescoping boom mounted to the platform's deck. The work system includes the mobile platform (locomotor), a power distribution unit (PDU) and a remote operator console. ROSIE moves about the reactor building

  7. 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

  8. General Research and Development problems in dismantling

    International Nuclear Information System (INIS)

    Lorin, C.

    1993-01-01

    R and D studies for dismantling nuclear facilities have been conducted in several domains: safety evaluation (3D cameras, gamma camera, gamma low level control bench, alpha measures); general studies (such as the Baladin software, an expert system for dismantling); decontamination techniques (utilisation of acid or base liquids, laser, ...); cutting techniques and tools (remote controlled grinder, remote controlled robot, carrier crane); robotics for remote operations and handling; waste processing

  9. Radiation Hardened Telerobotic Dismantling System Development Final Report CRADA No. TC-1340-96

    Energy Technology Data Exchange (ETDEWEB)

    Smith, C. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States); Lightman, A. [Lawrence Livermore National Lab. (LLNL), Livermore, CA (United States)

    2017-09-27

    This project was a collaborative effort between the University of California, LLNL and RedZone Robotics, Inc. for the development of radiation-hardened telerobotic dismantling systems for use in applications such as nuclear facility remediation, nuclear accident response, and Chemobyltype remediation. The project supported the design, development, fabrication and testing of a Ukrainian robotic systems. The project was completed on time and within budget. All deliverables were completed. The final project deliverables were consistent with the plans developed in the original project with the exception that the fabricated systems remained in Ukraine.

  10. The market of nuclear plant dismantling. The new EDF's strategy, process standardisation, robotization: which perspectives for the market by 2030?

    International Nuclear Information System (INIS)

    2017-09-01

    Dismantling appears as the most promising activity in the nuclear sector due to ageing plants, to ambitious objectives of reduction of the nuclear share in the energy mix, or to high expertise of French companies in robotic and digital solutions for deconstruction in radioactive environments. However, the development of the dismantling market depends on EDF decisions: the extension of nuclear reactor lifetime postpones the development of this market. In this context, this study aims at giving an anticipated view of the plant dismantling market by 2030, at deciphering growth levers for the sector actors, and at understanding the sector operation and the business model of operators. Thus, the report presents the main components of the market (key figures, dismantling types, dismantling steps, sector ecosystem, barriers to enter the market, costs, contractual relationships), proposes an analysis of the market and of its perspectives (situation in France, and at the world level, predictive scenario for 2030), and discusses the development axes and demand evolutions (robotization and digitalisation, elaboration of standardised processes, management of wastes produced by nuclear dismantling, internationalisation of French actors). It also proposes an overview of actors in France, and identity sheets for commissioners (EDF, New Areva), contractors (Onet, Vinci, Engie), and other actors (Veolia, Assystem, Ortec, Cybernetix, Oreka Group). The last part proposes synthetic sheets for more than 110 companies of the sector (general information, management and financial performance data under the form of tables and figures) and comparative tables according to 5 key indicators. Data are presented for a period ranging from 2010 to 2016

  11. Proposed radiation hardened mobile vehicle for Chernobyl dismantlement and nuclear accident response

    International Nuclear Information System (INIS)

    Rowland, M.S.; Holliday, M.A.; Karpachov, J.A.

    1995-01-01

    Researchers are developing a radiation hardened, Telerobotic Dismantling System (TDS) to remediate the Chernobyl facility. To withstand the severe radiation fields, the robotic system, will rely on electrical motors, actuators, and relays proven in the Chernobyl power station. Due to its dust suppression characteristics and ability to cut arbitrary materials the authors propose using a water knife as the principle tool to slice up the large fuel containing masses. The front end of the robot will use a minimum number of moving parts by locating most of the susceptible and bulky components outside the work area. Hardened and shielded video cameras will be designed for remote control and viewing of the robotic functions. Operators will supervise and control robot movements based on feedback from a suite of sensory systems that would include vision systems, radiation detection and measurement systems and force reflection systems. A gripper will be instrumented with a variety of sensors (e.g. force, torque, or tactile), allowing varying debris surface properties to be grasped. The gripper will allow the operator to manipulate and segregate debris items without entering the radiologically and physically dangerous dismantlement operations area. The robots will initially size reduce the FCM's to reduce the primary sources of the airborne radionuclides. The robot will then remove the high level waste for packaging or decontamination, and storage nearby

  12. Development of decommissioning engineering support system for fugen. Development of support system during actual dismantlement works

    International Nuclear Information System (INIS)

    Masanori Izumi; Yukihiro Iguchi; Yoshiki Kannehira

    2005-01-01

    The Advanced Thermal Reactor, Fugen Nuclear Power Station was permanently shut down in March 2003, and is now preparing for decommissioning. We have been developing Decommissioning Engineering Support System (DEXUS) aimed at planning optimal dismantlement process and carrying out dismantlement work safely and precisely. DEXUS consists of 'decommissioning planning support system' and 'dismantling support system'. The dismantling support system is developed aiming at using during actual dismantling work. It consists of three subsystems such as 'Worksite Visualization System', 'Dismantling Data Collection System' and 'Generated Waste Management System'. 'Worksite Visualization System' is a support system designed to provide the necessary information to workers during actual dismantlement works. And this system adopts AR (Augmented Reality) technology, overlapping calculation information into real world. 'Dismantling Data Collection System' is to collect necessary data for improving accuracy of decommissioning planning by evaluating work content and worker equipage, work time for dismantlement works. 'Generated Waste Management system' is a system recording necessary information by attaching the barcode to dismantled wastes or the containers. We can get the information of generated waste by recording generation place, generated time, treatment method and the contents. These subsystems enable to carry out reasonable and safe decommissioning of Fugen. In addition, we expect that those systems will be used for decommissioning of other nuclear facilities in the future. (authors)

  13. The development of robotic systems for hazardous environments

    International Nuclear Information System (INIS)

    Collis-Smith, J.A.; Schilling, R.

    1996-01-01

    The need for teleoperated and robotic systems is growing. This growth is driven by several factors such as - statutory requirements; risk reduction and economic pressures. Robotic Systems are needed to provide reliable, economic means to perform surveillance, quantitative inspection, repairs, upgrading and eventual dismantling for decommissioning tasks. The range of potential applications has widened and there is now significant technical cross-fertilisation between developments in diverse environments. The typical robotic system consists of the emplacement equipment, the dextrous arm, the tool and the controls. The control system provides the operator with an integrated interface between the principal components, so that the operator can concentrate fully at the high level on the specific task in hand, while the control system and its software performs all the detail functions within the subparts of the integrated system. This paper develops this underlying logic, and is illustrated by experience drawn from a variety of examples in different environments to show the present state of the art in GEC Alsthom and suggest the way ahead in the near-term future. (Author)

  14. Multi-robots to micro-surgery: Selected robotic applications at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center

    1996-11-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories is a multi-program organization, pursuing research, development and applications in a wide range of field. Activities range from large-scale applications such as nuclear facility dismantlement for the US Department of Energy (DOE), to aircraft inspection and refurbishment, to automated script and program generation for robotic manufacturing and assembly, to miniature robotic devices and sensors for remote sensing and micro-surgery. This paper describes six activities in the large and small scale that are underway and either nearing technology transfer stage or seeking industrial partners to continue application development. The topics of the applications include multiple arm coordination for intuitively maneuvering large, ungainly work pieces; simulation, analysis and graphical training capability for CP-5 research reactor dismantlement; miniature robots with volumes of 16 cubic centimeters and less developed for inspection and sensor deployment; and biomedical sensors to enhance automated prosthetic device production and fill laparoscopic surgery information gap.

  15. Application status and performance analysis of robot in nuclear power plants

    International Nuclear Information System (INIS)

    Liu Chengze; Yan Zhi; Deng Jingshan

    2012-01-01

    Application status of robot in nuclear power plants in some countries is summarized. The related robots include accident response robot, dismantling and cleaning robot, in-service inspection robot, special-purpose robot and so on. Finally, some key technologies such as the radiation-tolerance and reliability of the robot systems are analyzed in details. (authors)

  16. Development of multi-functional telerobotic systems for reactor dismantlement

    International Nuclear Information System (INIS)

    Fujii, Yoshio; Usui, Hozumi; Shinohara, Yoshikuni

    1992-01-01

    This report summarizes technological features of advanced telerobotic systems for reactor dismantling application developed at the Japan Atomic Energy Research Institute. Taking into consideration the special environmental conditions in reactor dismantling, major effort was made to develop multifunctional telerobotic system of high reliability which can be used to perform various complex tasks in an unstructured environment and operated in an easy and flexible manner. The system development was carried out through constructing three systems in seccession; a light-duty and a heavy-duty system as a prototype system for engineering test in cold environment, and a demonstration system for practical on-site application to dismantling highly radioactive reactor internals of an experimental boiling water reactor JPDR (Japan Power Demonstration Reactor). Each system was equipped with one or two amphibious manipulators which can be operated in either a push-button manual, a bilateral master-slave, a teach-and-playback or a programmed control mode. Different scheme was adopted in each system at designing the manipulator, transporter and man-machine interface so as to compare their advantages and disadvantages. According to the JPDR decommissioning program, the demonstration system was successfully operated to dismantle a portion of the radioactive reactor internals of the JPDR, which used underwater plasma arc cutting method and proved the usefulness of the multi-functional telerobotic system for reducing the occupational hazards and enhancing the work efficiency in the course of dismantling highly radioactive reactor components. (author)

  17. Capacitive tool standoff sensor for dismantlement tasks

    International Nuclear Information System (INIS)

    Schmitt, D.J.; Weber, T.M.; Liu, J.C.

    1996-01-01

    A capacitive sensing technology has been applied to develop a Standoff Sensor System for control of robotically deployed tools utilized in Decontamination and Dismantlement (D and D) activities. The system combines four individual sensor elements to provide non-contact, multiple degree-of-freedom control of tools at distances up to five inches from a surface. The Standoff Sensor has been successfully integrated to a metal cutting router and a pyrometer, and utilized for real-time control of each of these tools. Experiments demonstrate that the system can locate stationary surfaces with a repeatability of 0.034 millimeters

  18. Dismantling of JPDR begins: to demonstrate advanced technology

    Energy Technology Data Exchange (ETDEWEB)

    1986-12-01

    The first dismantling of the Japan Power Demonstration Reactor (JPDR, BWR, 90 MWt, 12.5 MWe) began on December 4, 1986, claiming the attention of nuclear interests in Japan and overseas. The Japan Atomic Energy Research Institute undertook the project as the second phase of the six year program for dismantling the JPDR at the Tokai Research Establishment. It is the demonstration of the technology developed in the first phase of the program from 1981 to 1986, aiming at establishing a total system for dismantling commercial nuclear power plants in the furture. At the ceremony for the beginning of dismantling held on December 4 at the site, a special switch was operated to fire a gas burner, and cutting of the upper head of the reactor pressure vessel on the service floor of the reactor building began. The long term program on the development and utilization of nuclear energy in 1982 decided the basic policy on reactor decommissioning. Under this policy, in July, 1984, the nuclear subcommittee of the Advisory Committee for Energy set up the guideline for standardized decommissioning suitable to the actual situation in Japan. The schedule of the program, the development of eight fundamental techniques, disassembling techniques, decontamination, measurement and robotics are described. (Kako, I.).

  19. Rosie: A mobile worksystem for decontamination and dismantlement operations

    International Nuclear Information System (INIS)

    Thompson, B.R.; Conley, L.

    1996-01-01

    RedZone Robotics, Inc. and Carnegie Mellon University's Field Robotics Center have undertaken a contract to develop a next-generation worksystem for decommissioning and dismantlement tasks in Department of Energy (DOE) facilities. Currently, the authors are closing the second phase of this three phase effort and have completed the design and fabrication of the worksystem: Rosie. Rosie includes a locomotor, heavy manipulator, control center, and control system for robot operation. The locomotor is an omni-directional platform with tether management and hydraulic power capabilities. The heavy manipulator is a high-payload, long-reach system intended to deploy tools into the work area. The heavy manipulator is capable of deploying systems such as the Dual-Arm Work Module--a five degree-of-freedom platform supporting two highly dexterous manipulators--or a single manipulator for performing simpler, less dexterous tasks. Rosie is telerobotic to the point of having servo-controlled motions which can be operated and coordinated through the control center

  20. Techniques for CAD reconstruction of 'as-built' environments and application to preparing for dismantling of plants

    International Nuclear Information System (INIS)

    Pot, J.; Levesque, P.

    1997-01-01

    Electricite de France is using CAD-generated numeric geometrical models to simulate maintenance operations and enable optimizing maintenance procedures. These models are also used to program the machines or robots for certain servicing procedures. They are used in the operator interfaces for robot control, and provide the operator with virtual cameras or enable generating specific information (such as virtual force feedback). Even more recently, CAD models have been integrated in what is known as 'virtual reality' software, giving the operators a sensation of 'immersion' in a virtual universe. Depending on the need and on the type of results expected from the simulations, one needs more or less precise models of the environment in which work will be performed. EDF is using several techniques to get 'as-built' models of the environments. This article describes the SOISIC system, which is a 3D laser sensor widely used for environment data acquisition, associated with 3Dipsos software, for CAD model reconstruction. These techniques, and the applications subsequently developed formaintenance applications, can be used in preparing and carrying out dismantling operations: 'as-built' CAD modeling of the installation can be used in the preparatory phase, providing plans, simulating the varioussteps, calculating waste volumes, helping in optimization of waste management, etc. These models can also be used during the actual dismantling process, to program the machines or robots used, or in the robot or machinesupervisory system. Some of the presented techniques have been used in a room in the Brennilis plant, which is currently being dismantled. (orig.)

  1. Dismantling system of concrete thermal shielding walls

    International Nuclear Information System (INIS)

    Machida, Nobuhiro; Saiki, Yoshikuni; Ono, Yorimasa; Tokioka, Masatake; Ogino, Nobuyuki.

    1985-01-01

    Purpose: To enable safety and efficient dismantling of concrete thermal shielding walls in nuclear reactors. Method: Concrete thermal shielding walls are cut and dismantled into dismantled blocks by a plasma cutting tool while sealing the top opening of bioshielding structures. The dismantled blocks are gripped and conveyed. The cutting tool is remote-handled while monitoring on a television receiver. Slugs and dusts produced by cutting are removed to recover. Since the dismantling work is carried out while sealing the working circumstance and by the remote control of the cutting tool, the operators' safety can be secured. Further, since the thermal sealing walls are cut and dismantled into blocks, dismantling work can be done efficiently. (Moriyama, K.)

  2. Implementing robotics in the Department of Energy Dismantlement Program

    International Nuclear Information System (INIS)

    Jones, A.T.

    1997-01-01

    Since the end of the cold war, as our nuclear stockpile has decreased, the Department of Energy (DOE) has been working rapidly to safely dismantle weapons returned by the military. In order to be retired, weapons must be returned to the Pantex Plant in Amarillo, Texas. There they are reduced to their component parts. Although many of these parts are not hazardous, some, including certain explosive assemblies and radioactive materials, are sufficiently hazardous so that special handling systems are necessary. This paper will describe several of these systems developed by Sandia for Pantex and their technical basis

  3. Towards the creation of an industrial sector dedicated to nuclear dismantling

    International Nuclear Information System (INIS)

    Anon.

    2015-01-01

    In next decades the business of nuclear dismantling is expected to grow exponentially due to the decommissioning of nuclear facilities that will have reached the end of their operating life. Dismantling has 2 main features: dismantling operations on a same site can span decades and dismantling is a new activity in which innovations are likely to appear and may benefit other sectors. In France regional authorities have promoted public-private partnerships in order to make working together small enterprises very specialized in sectors like robotic, laser cutting, waste processing, remote operations... with public laboratories dedicated to nuclear research, and with graduate schools to include dismantling in curriculum and with major industrial operators of the nuclear industry. The aim is the creation of jobs and the building of an industrial sector able to win market shares in the worldwide business of nuclear dismantling. (A.C.)

  4. Shielded Cells D ampersand D and Dismantlement System Requirements

    International Nuclear Information System (INIS)

    Witherspoon, R.L.

    1995-01-01

    This document describes the basis for the development of the System for Highly Radioactive Equipment Dismantlement or SHRED. It is the result of a thorough investigation into current and past dismantlement practices at shielded cell facilities around the DOE complex. This information has been used to formulate the development requirements for the SHRED

  5. Rosie - mobile robot worksystem for decommissioning and dismantling operations. Final report, April 1, 1996 - January 31, 1997

    International Nuclear Information System (INIS)

    1998-01-01

    RedZone Robotics, Inc. has undertaken development of an advanced remote worksystem - Rosie - specifically designed to meet the challenges of performing a wide range of decontamination and dismantlement (D ampersand D) operations in nuclear environments. 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 capabilities, and hardening/reliability for hazardous duty make it a new and unique capability that facilitates completion of significant cleanup projects throughout the Department of Energy (DOE) and private sector. Endurance testing of the first Rosie system from September 1995 to March 1996 has proven its capabilities and appropriateness for D ampersand D applications. Design enhancements were incorporated into the second Rosie system to improve and add features necessary for deployment at a DOE facility decommissioning. This second Rosie unit was deployed to the Argonne National Laboratory's CP-5 reactor facility in early December 1996, and it is currently being used in the decommissioning of the reactor there. This report will overview this second Rosie system and the design enhancements made to it based on the lessons learned during the design, fabrication, and testing of the first Rosie system. The Rosie system has been designed to be a versatile and adaptable tool that can be used in many different applications in D ampersand D work at nuclear facilities. It can carry a wide variety of tooling, sensors, and other robotic equipment at the tip of its heavy manipulator, and it can deploy those items to many different hazardous work areas. Rosie's capabilities and system design address the need for durability and reliability in

  6. Rosie - mobile robot worksystem for decommissioning and dismantling operations. Final report, April 1, 1996--January 31, 1997

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-12-31

    RedZone Robotics, Inc. has undertaken development of an advanced remote worksystem - Rosie - specifically designed to meet the challenges of performing a wide range of decontamination and dismantlement (D&D) operations in nuclear environments. 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 capabilities, and hardening/reliability for hazardous duty make it a new and unique capability that facilitates completion of significant cleanup projects throughout the Department of Energy (DOE) and private sector. Endurance testing of the first Rosie system from September 1995 to March 1996 has proven its capabilities and appropriateness for D&D applications. Design enhancements were incorporated into the second Rosie system to improve and add features necessary for deployment at a DOE facility decommissioning. This second Rosie unit was deployed to the Argonne National Laboratory`s CP-5 reactor facility in early December 1996, and it is currently being used in the decommissioning of the reactor there. This report will overview this second Rosie system and the design enhancements made to it based on the lessons learned during the design, fabrication, and testing of the first Rosie system. The Rosie system has been designed to be a versatile and adaptable tool that can be used in many different applications in D&D work at nuclear facilities. It can carry a wide variety of tooling, sensors, and other robotic equipment at the tip of its heavy manipulator, and it can deploy those items to many different hazardous work areas. Rosie`s capabilities and system design address the need for durability and reliability in these environments.

  7. Rosie: A mobile workstation for decontamination and dismantlement operations

    International Nuclear Information System (INIS)

    1994-01-01

    RedZone Robotics, Inc. and Carnegie Mellon University's Field Robotics Center have undertaken a contract to develop a next-generation worksystem for decommissioning and dismantlement tasks in Department of Energy (DOE) facilities. Currently, the authors are in the second phase of this three phase effort and are completing the design of the worksystem. Within this project RedZone is designing and fabricating a worksystem: Rosie. Rosie will include a locomotor, heavy manipulator, control center, and control system for robot operation. The locomotor is an omni-directional platform with tether management and hydraulic power capabilities. The heavy manipulator is a high-payload, long-reach system to deploy tools into the work area. The heavy manipulator will be capable of deploying systems such as the Dual-Arm Work Module--a five degree-of-freedom platform supporting two highly dexterous manipulators--or a single manipulator for performing simpler, less dexterous tasks. Rosie will be telerobotic to the point of having servo-controlled motions which can be operated and coordinated through the control center. This report describes the design of the systems. In phase three Rosie will be radiation-hardened and perform a demonstration in a contaminated facility

  8. Development of an augmented reality based simulation system for cooperative plant dismantling work

    International Nuclear Information System (INIS)

    Ishii, Hirotake; Man, Zhiyuan; Yan, Weida; Shimoda, Hiroshi; Izumi, Masanori

    2015-01-01

    An augmented reality-based simulation system for cooperative plant dismantling work has been developed and evaluated. In the system, behaviors of virtual objects such as the dismantling target, chain blocks, and trolleys are physically simulated. Their appearance is superimposed on camera images captured with cameras on users' tablet devices. The users can manipulate virtual objects cooperatively via touch operation. They can cut the dismantling targets, lift them on the trolleys using chain blocks, and convey them through narrow passages to ascertain whether the dismantling targets can be conducted without colliding with the passages. During the simulation, collisions between the virtual objects and real work environment are detected based on their three-dimensional shape data measured in advance. The collided parts are visualized using augmented reality superimposition. Four evaluators assessed the simulation system. Results show that the simulation system can be useful for prior examination of dismantling works, but some points were also found to need improvement. (author)

  9. Some regulation aspects in dismantling

    International Nuclear Information System (INIS)

    Niel, J.C.

    1993-01-01

    In the French regulation framework, operations linked to dismantling are controlled by an overall technical and legislative system applied to all the different stages of the facility (commissioning, etc.). Government control on facilities under dismantling is aimed at dismantling operation safety and security, and dismantling waste processing in order to ensure public and environmental protection

  10. SGDES: Management system dismantling of ENRESA

    International Nuclear Information System (INIS)

    Julian, A. de; Fernandez, M.; Vidaechea, S.

    2013-01-01

    ENRESA, the Spanish public company responsible for managing radioactive waste and nuclear facilities decommissioning, has developed a management information system (SGDES) for the decommissioning of nuclear power plants. Dismantling activities require a rigorous operations control within highly specialized, process systematization and safety framework, both under human and technological point of view. SGDES system is capable of responding to the mentioned operational needs, efficiently and safely.

  11. Status of the Digital Mock-up System for the dismantling of the nuclear facilities

    International Nuclear Information System (INIS)

    Park, Hee Seoung; Kim, S. K.; Lee, K. W.; Oh, W. J.

    2004-12-01

    The database system have already developed is impossible to solve a quantitative evaluation about a various situation from the dismantle activities of the reactor had contaminated with radioactivity. To satisfy the requirements for safety and economical efficiency among a major decommissioning technologies, it need a system that can evaluate and estimate dismantling scheduling, amount of radioactive waste being dismantled, and decommissioning cost. We have review and analyzed status of the digital mock-up system to get a technical guide because we have no experience establishment of one relation to dismantling of research reactor and nuclear power plant

  12. A Study on Dismantling of Westinghouse Type Nuclear Reactor

    International Nuclear Information System (INIS)

    Jeong, Woo-Tae; Lee, Sang-Guk

    2014-01-01

    KHNP started a research project this year to develop a methodology to dismantle nuclear reactors and internals. In this paper, we reviewed 3D design model of the reactor and suggested feasible cutting scheme.. Using 3-D CAD model of Westinghouse type nuclear reactor and its internals, we reviewed possible options for disposal. Among various options of dismantling the nuclear reactor, plasma cutting was selected to be the best feasible and economical method. The upper internals could be segmented by using a band saw. It is relatively fast, and easily maintained. For cutting the lower internals, plasma torch was chosen to be the best efficient tool. Disassembling the baffle and the former plate by removing the baffle former bolts was also recommended for minimizing storage volume. When using plasma torch for cutting the reactor vessel and its internal, installation of a ventilation system for preventing pollution of atmosphere was recommended. For minimizing radiation exposure during the cutting operation, remotely controlled robotic tool was recommended to be used

  13. Manually-Operated Crate Dismantlement System for Los Alamos National Laboratory

    International Nuclear Information System (INIS)

    Laffitte, John; Lagos, Leo; Morales, Miguel

    2002-01-01

    Los Alamos National Laboratory currently possesses between 500 and 800 fiberglass-reinforced plywood crates that contain hazardous materials that need to be decontaminated. To access the hazardous material, a system is needed to dismantle the crate. Currently, crates are dismantled by workers using hand-held tools. This technique has numerous disadvantages. One disadvantage is that it is difficult for a worker to hold the tool for an extended period of time in the awkward angles and positions necessary to fully size-reduce the crate. Other disadvantages of using hand tools include managing power cords and vacuum hoses, which become entangled or can act as tripping hazards. In order to improve the crate opening and size-reduction task, Florida International University's Hemispheric Center for Environmental Technology (HCET) is developing a manually operated crate dismantlement system. This versatile system is expected to greatly increase worker efficiency while decreasing fatigue and the possibility of accidents. (authors)

  14. Maestro: a tele-robotic system for decommissioning of nuclear plants

    International Nuclear Information System (INIS)

    Desbats, P.; Idasiak, J.M.

    2008-01-01

    Compared to electric manipulators, hydraulic manipulators can handle higher payloads with respect to their size and mass. However, due to their limited positioning resolution and dexterity, they are usually disqualified for precise tele-manipulation and high quality tele-operation. More over, experience feedback has shown that on-the-shelf hydraulic manipulators are not reliable when performing high demanding tasks in tele-operation for dismantling applications. In order to solve this problem, CEA (Commissariat l'Energie Atomique), in collaboration with Cybernetix company, has developed a computer-aided, high-precision remote handling system with force-feedback featuring the advanced hydraulic tele-robotic arm Maestro. (authors)

  15. Tools and tool application for the dismantling of the nuclear power plant Brennilis in France

    International Nuclear Information System (INIS)

    Bienia, Harald; Welbers, Philipp; Krueger, Peter; Noll, Thomas

    2012-01-01

    The EL-4 reactor in the NPP Brennilis in France is a CO2 cooled heavy water moderated test reactor with net power of 70 MW, the reactor started operation in 1967 and was decommissioned in 1985. Due to the construction features it was not necessary to enter the reactor area during operation, therefore the reactor pressure vessel and the surrounding piping systems are built in a very compact way. The dismantling procedures are therefore different from German BWR or PWR systems, the remote cutting and handling tools have to be adapted to the different features. Because of the high local dosage rate in the reactor hall it is also necessary to perform the erection of the dismantling equipment by robot systems. For cutting of the piping system a new plasma cutting technique, the hot wire method will be used. Other mechanical cutting techniques have to be used for instance for zircaloy containing components due to fire prevention purposes. The required time for tool and manipulator changes, including wearing part replacements constitute a significant part of the dismantling schedule. The suction/exhaust system for radioactive dust removal allowed a reduction of the total personal dose by one third of the allowed dose.

  16. Dismantling institutional racism: theory and action.

    Science.gov (United States)

    Griffith, Derek M; Mason, Mondi; Yonas, Michael; Eng, Eugenia; Jeffries, Vanessa; Plihcik, Suzanne; Parks, Barton

    2007-06-01

    Despite a strong commitment to promoting social change and liberation, there are few community psychology models for creating systems change to address oppression. Given how embedded racism is in institutions such as healthcare, a significant shift in the system's policies, practices, and procedures is required to address institutional racism and create organizational and institutional change. This paper describes a systemic intervention to address racial inequities in healthcare quality called dismantling racism. The dismantling racism approach assumes healthcare disparities are the result of the intersection of a complex system (healthcare) and a complex problem (racism). Thus, dismantling racism is a systemic and systematic intervention designed to illuminate where and how to intervene in a given healthcare system to address proximal and distal factors associated with healthcare disparities. This paper describes the theory behind dismantling racism, the elements of the intervention strategy, and the strengths and limitations of this systems change approach.

  17. Robotics take heat out of reactor. [Windscale AGR decommissioning

    Energy Technology Data Exchange (ETDEWEB)

    Rufford, N

    1986-12-04

    The Windscale prototype reactor is being decommissioned and dismantled. The stages are outlined. The first phase began in 1985 and included construction of a waste packaging plant annexed to the steel dome. The boilers will be cut up and, once decontaminated, probably sold for scrap. The second phase involves dismantling the reactor itself. Much of this will be done by a semi-automatic robot which is being specially built and tested. The robot will have an extendable arm with a manipulator which will be equipped with bolt croppers, shears, a saw and oxypropane cutter. This robot will cut up the pressure vessel in sections ready for encasing in concrete. Lessons learnt from the dismantling will be used in future reactor designs and specifications (eg the need to use steels with fewer impurities, especially cobalt). Ultimate disposal of the concrete waste blocks is undecided. (U.K.).

  18. The Japan Power Demonstration Reactor dismantling project. Radiation control

    International Nuclear Information System (INIS)

    Tomii, Hiroyuki; Seiki, Yoshihiro

    1996-01-01

    In the Japan Power Demonstration Reactor (JPDR) dismantling project, radiation control was performed properly with routine and special monitoring to keep the occupational safety and to collect data necessary for future dismantling of nuclear facilities. This report describes a summary of radiation control in the dismantling activities and some results of parametric analysis on dose equivalent evaluation, and introduces the following knowledge on radiological protection effectiveness of the dismantling systems applied in the project. a) Use of remote dismantling systems was effective in reducing equivalent workplace exposure. b) Utilization of existing facilities as radiation shield or radioactivity containment was effective in reducing workplace exposure, and also in increasing work efficiency. c) Use of underwater cutting systems was useful to minimize air contamination, and to reduce the dose equivalent rate in the working area. d) In the planning of dismantling, it is necessary to optimize the radiation protection by analyzing dismantling work procedures and evaluating radiological features of the dismantling systems applied, including additional work which the systems require brought from such activities. (author)

  19. The challenges of dismantling

    International Nuclear Information System (INIS)

    Sene, Monique; Lheureux, Yves; Leroyer, Veronique; Rollinger, Francois; Gauthier, Florence; Depauw, Denis; Reynal, Nathalie; Fraysse, Thierry; Burger, Eric; Bertrand, Adrien; Vallat, Christophe; Bernet, Philippe; Eimer, Michel; Boutin, Dominique; Bietrix, Philippe; Richard, Francoise; Piketty, Laurence; Mouchet, Chantal; Charre, Jean-Pierre

    2014-01-01

    This document gathers Power Point presentations which address the contexts and challenges of dismantling (legal framework, safety and radiation protection challenges, waste processing industry), and propose illustrations of dismantling challenges (example of operations to prepare EURODIF dismantling and CLIGEET work-group on EURODIF dismantling, examples of dismantling of EDF installations and CLIs' opinion on the dismantling of EDF installations, Brennilis dismantling follow-up performed by the CLI, examples of dismantling of CEA installations and opinion of a CLI on the dismantling of CEA installations)

  20. Simulation and off-line programming at Sandia`s Intelligent Systems and Robotics Center

    Energy Technology Data Exchange (ETDEWEB)

    Xavier, P.G.; Fahrenholtz, J.C.; McDonald, M. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center] [and others

    1997-11-01

    One role of the Intelligent Robotics and System Center (ISRC) at Sandia National Laboratories is to address certain aspects of Sandia`s mission to design, manufacture, maintain, and dismantle nuclear weapon components. Hazardous materials, devices, and environments are often involved. Because of shrinking resources, these tasks must be accomplished with a minimum of prototyping, while maintaining high reliability. In this paper, the authors describe simulation, off-line programming/planning, and related tools which are in use, under development, and being researched to solve these problems at the ISRC.

  1. Management system information of characterization of the dismantling project of Jose Cabrera

    International Nuclear Information System (INIS)

    Gimeno Blesa, M. E.; Martin Palomo, N.; Gomez Rodriguez, C. A.

    2011-01-01

    In the proposed dismantling and decommissioning of the Jose Cabrera NPP is designed and implemented a database of physical and radiological inventory, which provides a powerful tool to optimize the storage, monitoring and control of the characterization data. The database is a useful and reliable management system characterization information that facilitates access and information processing, and ensures their integrity and traceability along of the dismantling project.

  2. LEP dismantling starts

    CERN Multimedia

    2000-01-01

    Since the end of November, various teams have been getting stuck into dismantling the LEP accelerator and its four experiments. After making the installations safe, the dismantling and removal of 40,000 tonnes of equipment is underway. Down in the tunnel, it is a solemn moment. It is 10 o'clock on 13 December and Daniel Regin, one of those heading the dismantling work, moves in on a magnet, armed with a hydraulic machine. Surrounded by teams gathered there for a course in dismantling, he makes the first cut into LEP. The great deconstruction has begun. In little over than a year, the accelerator will have been cleared away to make room for its successor, the LHC. The start of the operation goes back to 27 November. Because before setting about the machine with hydraulic shears and monkey wrenches, LEP had first to be made safe - it was important to make sure the machine could be taken apart without risk. All the SPS beam injection systems to LEP were cut off. The fluids used for cooling the magnets and superc...

  3. Decommissioning of nuclear facilities: COGEMA expertise devoted to UP1 reprocessing plant dismantling programme

    International Nuclear Information System (INIS)

    Gay, A.

    2001-01-01

    Over the last past decades, the French nuclear industry has acquired a great experience and know-how in the field of dismantling. Today this experience amounts to more than 200,000 hours. The fundamental aims within dismantling strategy are the same as for all nuclear facilities: minimising doses received by workers, minimising waste volume and adapting waste management to radioactivity levels, minimising costs. French experience is based on technologies which are currently used in nuclear maintenance facilities. Dismantling is a dynamic process especially in the field of decontamination (chemical and mechanical), cleaning, robotics and remote control operations. The strategy for the dismantling of former UP1 reprocessing plant is based on the feedback of experience gained through the dismantling of other facilities such as the AT1 workshop at La Hague. This workshop, a pilot plant for reprocessing of fast-breeder reactor fuels (Rapsodie and Phenix) has to be dismantled to IAEA level 3 (unrestricted site use), excluding civil works structures. Currently conducted by trained shifts, this dismantling project should end in 1999. The experience already acquired proves that chemical rinsings with the use of specific reagents is sufficient to decontaminate the hot cells and that the use of remote operations or robotics is not as important as previously envisaged. The UP1 reprocessing plant of Marcoule operated from 1958 to 1997. End of the operation was pronounced on the 31st of December 1997. 20,000 tons of spent fuels were reprocessed at UP1. The cleaning and dismantling operations at the Marcoule site depend upon the CEA, EDF and COGEMA. The Defence and Industry Ministries asked for a specific structure to be set up. An economic interest group called CODEM was created in May 1996. CODEM decides, finances and supervises dismantling operations, while respecting the constraints of nuclear safety, environmental protection and cost-effectiveness. The cleaning operations of

  4. Remote dismantlement tasks for the CP5 reactor: Implementation, operations, and lessons learned

    International Nuclear Information System (INIS)

    Noakes, M.W.

    1998-01-01

    This paper presents a developer's perspective on lessons learned from one example of the integration of new prototype technology into a traditional operations environment. The dual arm work module was developed by the Robotics Technology Development Program as a research and development activity to examine manipulator controller modes and deployment options. It was later reconfigured for the dismantlement of the Argonne National Laboratory Chicago Pile number-sign 5 reactor vessel as the crane-deployed dual arm work platform. Development staff worked along side operations staff during a significant part of the deployment to provide training, maintenance, and tooling support. Operations staff completed all actual remote dismantlement tasks. At the end of available development support funding, the Dual Arm Work Platform was turned over to the operations staff, who is still using it to complete their dismantlement tasks

  5. EDF's dismantling experience

    International Nuclear Information System (INIS)

    Mira, J.J.

    1993-01-01

    The dismantling policy at EDF, taking into account technical, economical and socio-political factors, is presented. The various current realizations are reviewed and their dismantling solution discussed: Chinon A2, Chinon A1, Marcoule G1, G2, G3, Brennilis (EL4). Several dismantling projects are also described (Chinon A3, St-Laurent A1-A2, Chooz A). The various dismantling operations are presented and scheduled

  6. Decision support system for the dismantling of building in nuclear facilities

    International Nuclear Information System (INIS)

    Zeiher, M.

    2009-01-01

    In case of decommissioning and dismantling the complex structure of nuclear facilities requires a thorough selection of dismantling methods and a detailed operations planning. The decision for an appropriate technology with respect to economic, environmental and radiation protection aspects has to take into account that the different procedural steps are coordinated. Component specific boundary conditions and process parameters have to be considered. A data base was established that includes the process parameters for different dismantling methodologies. The next step is the determination of specific requirements of plant operators and engineers in order to identify the tasks in the frame of the dismantling process. The authors describes the decision support algorithm that allows to enhance the dismantling efficiency.

  7. Dismantling of nuclear facilities

    International Nuclear Information System (INIS)

    Tallec, M.; Kus, J.P.

    2009-01-01

    Nuclear facilities have a long estimable lifetime but necessarily limited in time. At the end of their operation period, basic nuclear installations are the object of cleansing operations and transformations that will lead to their definitive decommissioning and then to their dismantling. Because each facility is somewhere unique, cleansing and dismantling require specific techniques. The dismantlement consists in the disassembly and disposing off of big equipments, in the elimination of radioactivity in all rooms of the facility, in the demolition of buildings and eventually in the reconversion of all or part of the facility. This article describes these different steps: 1 - dismantling strategy: main de-construction guidelines, expected final state; 2 - industries and sites: cleansing and dismantling at the CEA, EDF's sites under de-construction; 3 - de-construction: main steps, definitive shutdown, preparation of dismantling, electromechanical dismantling, cleansing/decommissioning, demolition, dismantling taken into account at the design stage, management of polluted soils; 4 - waste management: dismantlement wastes, national policy of radioactive waste management, management of dismantlement wastes; 5 - mastery of risks: risk analysis, conformability of risk management with reference documents, main risks encountered at de-construction works; 6 - regulatory procedures; 7 - international overview; 8 - conclusion. (J.S.)

  8. Challenges of dismantling

    International Nuclear Information System (INIS)

    Chevet, P.F.; Schilz, F.; Rondeau, J.M.; Piketty, L.; Dupraz, B.; Conte, D.; Duguey, M.; Louet, C.A.; Dorison, A.; Dutzer, M.; Boucau, J.; Eimer, M.; Boutin, D.; Revilla, J.L.; Golshan, M.; Smith, G.

    2015-01-01

    This document is made up of short articles whose issue is reactor dismantling. The first article presents the French strategy that can be featured by immediate dismantling (the dismantling process is prepared a long time before decommissioning and begins as soon as the reactor is shut down) and massive dismantling (a lot of nuclear facilities will be decommissioned in a near future). The following 4 articles give the viewpoints of ASN (Nuclear Safety Authority), EDF (for its fleet of PWRs), CEA (for its experimental reactors and nuclear facilities) and AREVA (for the EURODIF George Besse plant). Costs and financing are dealt with in an article that says that the cost is greatly dependent on the final state: a complete nuclear-free area or an area whose radioactivity is below safe standards and that law implies to constitute provisions all along the operating life of the facility to cover dismantling costs. Dismantling generates a huge amount of very low-level radioactive wastes particularly metal scraps that might be recycled and get out of nuclear industry, an article details the feasibility of such recycling. Another article shows the impact of massive dismantling on the management of radioactive wastes. In an article Westinghouse presents its experience in the cutting of internal equipment of the reactor core. The last 2 articles presents the dismantling strategies in Spain and in the UK. (A.C.)

  9. Installation dismantling system, working process and hood utilizable in this system

    International Nuclear Information System (INIS)

    Poirier, J.C.; Mulcey, P.; Morel, P.; Vavasseur, C.

    1989-01-01

    The system for dismantling an installation under a controlled atmosphere is made by a tool polluting the atmosphere, a gas blanket creating a continement zone around the tool, an extractor removing polluted gas from the zone, a purifier for the extracted gas and a controller regulating the flow of gas in the blanket and keeping the installation at constant pressure [fr

  10. DOE EM industry programs robotics development

    International Nuclear Information System (INIS)

    Staubly, R.; Kothari, V.

    1998-01-01

    The Office of Science and Technology (OST) manages an aggressive program for RD and D, as well as testing and evaluation for the Department of Energy's (DOE's) Environmental Management (EM) organization. The goal is to develop new and improved environmental restoration and waste management technologies to clean up the inventory of the DOE weapons complex faster, safer, and cheaper than is possible with currently available technologies. Robotic systems reduce worker exposure to the absolute minimum, while providing proven, cost-effective, and, for some applications, the only acceptable technique for addressing challenging problems. Development of robotic systems for remote operations occurs in three main categories: tank waste characterization and retrieval; decontamination and dismantlement; and characterization, mapping, and inspection systems. In addition, the Federal Energy Technology Center (FETC) has some other projects which fall under the heading of supporting R and D. The central objective of all FETC robotic projects is to make robotic systems more attractive by reducing costs and health risks associated with the deployment of robotic technologies in the cleanup of the nuclear weapons complex. This will be accomplished through development of robots that are cheaper, faster, safer, and more reliable, as well as more straightforward to modify/adapt and more intuitive to operate with autonomous capabilities and intelligent controls that prevent accidents and optimize task execution

  11. The dismantling of nuclear installations

    International Nuclear Information System (INIS)

    Lacoste, A.C.; Duthe, M.; Mignon, H.; Lambert, F.; Pradel, Ph.; Hillewaere, J.P.; Dupre la Tour, St.; Mandil, C.; Weil, L.; Eickelpasch, N.; Finsterwalder, L.

    1997-01-01

    for nuclear installations, the dismantling is an important part of their exploitation. The technology of dismantling is existing and to get a benefit from the radioactive decay, it seems more easy for operating company such E.D.F. to wait for fifty years before dismantling. But in order to get the knowledge of this operation, the Safety Authority wanted to devote this issue of 'Controle'to the dismantling method. This issue includes: the legal aspects, the risks assessment, the dismantling policy at E.D.F., the site of Brennilis (first French experience of dismantling), the dismantling techniques, the first dismantling of a fuel reprocessing plant, comparison with classical installations, economic aspect, some German experiences, the cleansing of the american site of Handford. (N.C.)

  12. Clean-up and dismantling, Dismantling - legacy of the past, prospects for the future: CEA, a pioneer in the dismantling process, nuclear dismantling, research and innovation dedicated to dismantling

    International Nuclear Information System (INIS)

    Lorec, Amelie

    2016-01-01

    France - a world leader in the whole nuclear power cycle - is also responsible for the clean-up and dismantling of its end-of-life nuclear facilities. Here, the CEA is considered to be a pioneer both in the project ownership of work sites and in the R and D for optimising the timescales, costs and safety of those work sites. Its responsibilities range from defining the most appropriate scenario, characterising the radiological state of equipment and decontaminating premises, carrying out dismantling and optimising the resulting waste. With this wide range of skills and the diversity of its facilities, the CEA Nuclear Energy Division is developing innovative solutions which are already the subject of industrial transfers. Two-thirds of France's end-of-life nuclear facilities belong to the CEA - a situation connected with its history. This implies setting up clean-up and dismantling work sites which have unprecedented scientific, human and financial challenges. Every regulated nuclear installation (INB) (nuclear reactors, laboratories, etc.) has a limited operating life. When it stops being used, it is first cleaned up (removal of radioactive substances), then dismantled (disassembly of components) in accordance with the baseline safety requirements, and finally decommissioned so that it can be used for other purposes or be demolished. Cleanup and dismantling operations concern all the facility's components, such as hot (shielded) cells which can be found in some laboratories. As the owner of its clean-up and dismantling projects, the CEA also devotes a significant amount of R and D to reducing the timescales, costs and waste from current and future programmes, while improving their safety. The resulting innovations often lead to industrial transfers. (authors)

  13. Abrasive water jet cutting technique for biological shield concrete dismantlement

    International Nuclear Information System (INIS)

    Konno, T.; Narazaki, T.; Yokota, M.; Yoshida, H.; Miura, M.; Miyazaki, Y.

    1987-01-01

    The Japan Atomic Energy Research Institute (JAERI) is developing the abrasive-water jet cutting system to be applied to dismantling the biological shield walls of the JPDR as a part of the reactor dismantling technology development project. This is a total system for dismantling highly activated concrete. The concrete biological shield wall is cut into blocks by driving the abrasive-water jet nozzle, which is operated with a remote, automated control system. In this system, the concrete blocks are removed to a container, while the slurry and dust/mist which are generated during cutting are collected and treated, both automatically. It is a very practical method and will quite probably by used for actual dismantling of commercial power reactors in the future because it can minimize workers' exposure to radioactivity during dismantling, contributes to preventing diffusion of radiation, and reduces the volume of contaminated secondary waste

  14. The Japan Power Demonstration Reactor (JPDR) dismantling activities. Management of JPDR dismantling waste

    International Nuclear Information System (INIS)

    Abe, Masayoshi; Nakata, Susumu; Ito, Shinichi

    1996-01-01

    The management of wastes, both radioactive and non-radioactive, is one of the most important issues for a safe and reasonable dismantling operation of nuclear power plants. A large amount of radioactive wastes is arising from a reactor dismantling operation in a relatively short period time, ranging in a wide variety from very low level to relatively high level. Moreover non-radioactive waste is also in a huge amount. The dismantling operation of Japan Power Demonstration Reactor (JPDR) resulted in 24,440 tons of dismantling wastes, of which about 15% was radioactive and 85% non-radioactive. These wastes were managed successfully implementing a well developed management plan for JPDR dismantling waste. Research and development works for handling of JPDR dismantling wastes were performed, including fixation of loose contamination on surface, volume reduction and waste containers for on-site transportation and interim storage. The JPDR dismantling wastes generated were classified and categorized depending on their materials, characteristics and activity level. Approximately 2,100 tons of radioactive wastes were stored in the interim storage facilities on site using developed containers, and 1,670 tons of radioactive concrete waste were used for a safe demonstration test of a simple near-surface disposal for very low level waste. Other dismantling wastes such as steel and concrete which were categorized as non-radioactive were recycled and reused as useful resources. This paper describes the management of the JPDR dismantling wastes. (author)

  15. Robot-laser system

    International Nuclear Information System (INIS)

    Akeel, H.A.

    1987-01-01

    A robot-laser system is described for providing a laser beam at a desired location, the system comprising: a laser beam source; a robot including a plurality of movable parts including a hollow robot arm having a central axis along which the laser source directs the laser beam; at least one mirror for reflecting the laser beam from the source to the desired location, the mirror being mounted within the robot arm to move therewith and relative thereto to about a transverse axis that extends angularly to the central axis of the robot arm; and an automatic programmable control system for automatically moving the mirror about the transverse axis relative to and in synchronization with movement of the robot arm to thereby direct the laser beam to the desired location as the arm is moved

  16. Dismantling techniques

    Energy Technology Data Exchange (ETDEWEB)

    Wiese, E.

    1998-03-13

    Most of the dismantling techniques used in a Decontamination and Dismantlement (D and D) project are taken from conventional demolition practices. Some modifications to the techniques are made to limit exposure to the workers or to lessen the spread of contamination to the work area. When working on a D and D project, it is best to keep the dismantling techniques and tools as simple as possible. The workers will be more efficient and safer using techniques that are familiar to them. Prior experience with the technique or use of mock-ups is the best way to keep workers safe and to keep the project on schedule.

  17. Dismantling techniques

    International Nuclear Information System (INIS)

    Wiese, E.

    1998-01-01

    Most of the dismantling techniques used in a Decontamination and Dismantlement (D and D) project are taken from conventional demolition practices. Some modifications to the techniques are made to limit exposure to the workers or to lessen the spread of contamination to the work area. When working on a D and D project, it is best to keep the dismantling techniques and tools as simple as possible. The workers will be more efficient and safer using techniques that are familiar to them. Prior experience with the technique or use of mock-ups is the best way to keep workers safe and to keep the project on schedule

  18. National School of Dismantling

    International Nuclear Information System (INIS)

    Ivaldi, Fabienne

    2003-01-01

    The National Institut of Nuclear Sciences and Techniques founded of 2001 a National School of Dismantling, NSD, at the end, which was validated by CEA, COGEMA, EDF and ANDRA. This school addresses four major issues: Decontamination; Dismantling; Demolition and waste Disposal (4D). Dedicated for instructing scientific and technical knowledge and know-how, needed in dismantling the nuclear installations, NSD has as targets: - personnel at engineering and operational level; - personnel occupied with involved trades from conception through intervention; - students and employees on leave; - employees while training on the job. Initial basic education for students in collaboration with schools and universities concerns: - master degree in radioactive waste management; - master degree in dismantling; - professional license in 3 D; - pro 4 D graduation. NSD is also engaged in continual formation for employees qualified, or not, adapted to the needs generated by the following tasks and personnel: - introduction in dismantling; - project team; - specialist engineer; - team head; - agent for remedial action; - agent for dismantling. The National School of Dismantling joins a network of human and technological capabilities confined within the 4 D frame, namely: - scientific and technical competencies (experts, instructors working in the nuclear field and dismantling); - pedagogical competence (professionals from basic and continual education); - specific material means such as those used by construction site schools, mock-ups, rooms for practical training etc

  19. 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)

  20. Dismantling technologies trends

    International Nuclear Information System (INIS)

    Devaux, P.

    2009-01-01

    In this work dismantling technologies trends realized by the CEA are reviewed. There following technologies are presented: Data acquisition from facilities; Scenario studies; Remote handling and carriers; Dismantling techniques; Decontamination.

  1. Decontamination and remote dismantling tests in the Itrec reprocessing plant

    International Nuclear Information System (INIS)

    Candelieri, T.; Gerardi, A.; Soffietto, G.

    1993-01-01

    The scope of this research is to evaluate the advantages of the rack removal system in the dismantling of reprocessing installations. The objective of this work is to verify experimentally the possibility of the decontamination of any particular module and the capability of the remote dismantling of components installed in the mobile rack. In particular, the main objective is to develop remotely operated equipment for the dismantling of centrifugal contactors. The decontamination of the equipment which represents the most important preliminary phase of the decommissioning operation, allowed to obtain low-level radioactivity. A supporting programme has been performed in order to collect sufficient data for the project and design of the remote dismantling machine. On the basis of technological cold test results, the project of the dismantling machine's construction has been optimized. Positive results obtained during the hot dismantling operations on the Rack 6 bis attested the effectiveness of the rack removal system as an original design which facilitates decommissioning of reprocessing plants. 2 tabs., 18 figs

  2. The concepts of the 'factory of the future' applied to cleanup and dismantling works

    International Nuclear Information System (INIS)

    Ghiban, A.; Girones, P.; Moitrier, C.; Gouhier, E.; Torreblanca, L.

    2016-01-01

    The 'factory of the future' relies on the implementation of new concepts and technologies like: connected robots, data analysis, virtual reality or enhanced reality in the fabrication processes. The article describes how these concepts can be used in cleanup or dismantling works. Both activities can be considered as the fabrication of a waste package and the processing plant as a factory. (A.C.)

  3. Robotic systems in spine surgery.

    Science.gov (United States)

    Onen, Mehmet Resid; Naderi, Sait

    2014-01-01

    Surgical robotic systems have been available for almost twenty years. The first surgical robotic systems were designed as supportive systems for laparoscopic approaches in general surgery (the first procedure was a cholecystectomy in 1987). The da Vinci Robotic System is the most common system used for robotic surgery today. This system is widely used in urology, gynecology and other surgical disciplines, and recently there have been initial reports of its use in spine surgery, for transoral access and anterior approaches for lumbar inter-body fusion interventions. SpineAssist, which is widely used in spine surgery, and Renaissance Robotic Systems, which are considered the next generation of robotic systems, are now FDA approved. These robotic systems are designed for use as guidance systems in spine instrumentation, cement augmentations and biopsies. The aim is to increase surgical accuracy while reducing the intra-operative exposure to harmful radiation to the patient and operating team personnel during the intervention. We offer a review of the published literature related to the use of robotic systems in spine surgery and provide information on using robotic systems.

  4. Dual Arm Work Platform teleoperated robotics system. Innovative technology summary report

    International Nuclear Information System (INIS)

    1998-12-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) has developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. The Dual Arm Work Platform (DAWP) demonstration focused on the use of the DAWP to segment and dismantle the CP-5 reactor tank and surrounding bio-shield components (including the graphite block reflector, lead and boral sheeting) and performing some minor tasks best suited for the use of teleoperated robotics that were not evaluated in this demonstration. The DAWP system is not a commercially available product at this time. The CP-5 implementation was its first D and D application. The demonstration of the DAWP was to determine the areas on which improvements must be made to make this technology commercially viable. The results of the demonstration are included in this greenbook. It is the intention of the developers to incorporate lessons learned at this demonstration and current technological advancements in robotics into the next generation of the DAWP

  5. Study on treatment of dust by dismantling

    International Nuclear Information System (INIS)

    Torikai, K.; Suzuki, K.

    1987-01-01

    In dismantling of nuclear reactors, various kinds of treatment of dust generated by cutting or dismantling concrete structures of components of reactors are evaluated for safety, cost, and performance comparing the work in air with water. A method of dust treatment for work in air is discussed. The dry method has an easy operation in practice and a good performance in the equipment, but has problem on the prevention from radioactive contamination by diffusion of dust in air. For the purpose of advancing the strong points and eliminating the weak points in dry method, an improved venturi scrubber system is proposed for dismantling work as a dust collecting system. The system consists of dust absorbing pipe, dust collector, separator of dust and water and dust transfer equipment to a storage of waste. This system would be expected to have better performance and lower operating cost in decommissioning nuclear reactors, especially, the number of dust filters, for example, HEPA filters, will be considerably saved

  6. CP-5 reactor remote dismantlement activities: Lessons learned in the integration of new technology in an operations environment

    International Nuclear Information System (INIS)

    Noakes, M.W.

    1998-01-01

    This paper presents the developer's perspective on lessons learned from one example of the integration of new prototype technology into a traditional operations environment. The dual arm work module was developed by the Robotics Technology Development Program as a research and development activity to examine manipulator controller modes and deployment options. It was later reconfigured for the dismantlement of the Argonne National Laboratory Chicago Pile No. 5 reactor vessel as the crane-deployed dual arm work platform. Development staff worked along side operations staff during a significant part of the deployment to provide training, maintenance, and tooling support. Operations staff completed all actual remote dismantlement tasks. At the end of available development support funding, the Dual Arm Work Platform was turned over to the operations staff, who are still using it to complete their dismantlement tasks

  7. The Superphenix dismantling

    International Nuclear Information System (INIS)

    Carle, R.

    1999-01-01

    This document presents selected abstracts of Remy Carle's presentation on the dismantling of Superphenix (october 1998). The author wonders about the consequences of such a decision. After a chronological account of this fast reactor project, its cost and the scientific and technical contribution, the dismantling problem is considered. For EDF (Electricite De France) the dismantling dimension is considered at the same time of the design. The main problem is the liquid sodium reprocessing: a technical but also a financing problem. The end of the speech deals with the political aspects of Superphenix and the relations with the public. (A.L.B.)

  8. 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.

  9. 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.

  10. Robotic vision system for random bin picking with dual-arm robots

    Directory of Open Access Journals (Sweden)

    Kang Sangseung

    2016-01-01

    Full Text Available Random bin picking is one of the most challenging industrial robotics applications available. It constitutes a complicated interaction between the vision system, robot, and control system. For a packaging operation requiring a pick-and-place task, the robot system utilized should be able to perform certain functions for recognizing the applicable target object from randomized objects in a bin. In this paper, we introduce a robotic vision system for bin picking using industrial dual-arm robots. The proposed system recognizes the best object from randomized target candidates based on stereo vision, and estimates the position and orientation of the object. It then sends the result to the robot control system. The system was developed for use in the packaging process of cell phone accessories using dual-arm robots.

  11. 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

  12. The WAK decommissioning and dismantling program

    International Nuclear Information System (INIS)

    Eiben, K.; Fritz, P.

    1995-01-01

    After an extensive rinsing of the reprocessing equipment the operation in the plant was terminated in 1991 following the principal political decision to abolish reprocessing of nuclear fuel in Germany. Since July 1991 only the safety relevant units are still in operation including the waste storage facilities for 80 m 3 of high active waste concentrate (HAWC). The decommissioning and dismantling will be achieved in six steps taking into account that some of the reprocessing equipment can be dismantled before and the rest only after the HAWC has been vitrified approximately by mid 2000. So far two licenses for decommissioning have been granted. An application for the dismantling of twelve systems in the process building including headend and tailend facilities will be licensed in 1995. The remote dismantling of equipment from the hot cells in the process building is being planned and will be executed between 1998--2001. New remote handling equipment will be cold tested in a test facility scheduled to start in the middle of this year. The final task is the green meadow after demolishing of the building and remediation of the site which is scheduled for 2005

  13. Liability exposure for surgical robotics instructors.

    Science.gov (United States)

    Lee, Yu L; Kilic, Gokhan; Phelps, John Y

    2012-01-01

    Surgical robotics instructors provide an essential service in improving the competency of novice gynecologic surgeons learning robotic surgery and advancing surgical skills on behalf of patients. However, despite best intentions, robotics instructors and the gynecologists who use their services expose themselves to liability. The fear of litigation in the event of a surgical complication may reduce the availability and utility of robotics instructors. A better understanding of the principles of duty of care and the physician-patient relationship, and their potential applicability in a court of law likely will help to dismantle some concerns and uncertainties about liability. This commentary is not meant to discourage current and future surgical instructors but to raise awareness of liability issues among robotics instructors and their students and to recommend certain preventive measures to curb potential liability risks. Published by Elsevier Inc.

  14. Novel robotic systems and future directions

    Directory of Open Access Journals (Sweden)

    Ki Don Chang

    2018-01-01

    Full Text Available Robot-assistance is increasingly used in surgical practice. We performed a nonsystematic literature review using PubMed/MEDLINE and Google for robotic surgical systems and compiled information on their current status. We also used this information to predict future about the direction of robotic systems based on various robotic systems currently being developed. Currently, various modifications are being made in the consoles, robotic arms, cameras, handles and instruments, and other specific functions (haptic feedback and eye tracking that make up the robotic surgery system. In addition, research for automated surgery is actively being carried out. The development of future robots will be directed to decrease the number of incisions and improve precision. With the advent of artificial intelligence, a more practical form of robotic surgery system can be introduced and will ultimately lead to the development of automated robotic surgery system.

  15. Robot bicolor system

    Science.gov (United States)

    Yamaba, Kazuo

    1999-03-01

    In case of robot vision, most important problem is the processing speed of acquiring and analyzing images are less than the speed of execution of the robot. In an actual robot color vision system, it is considered that the system should be processed at real time. We guessed this problem might be solved using by the bicolor analysis technique. We have been testing a system which we hope will give us insight to the properties of bicolor vision. The experiment is used the red channel of a color CCD camera and an image from a monochromatic camera to duplicate McCann's theory. To mix the two signals together, the mono image is copied into each of the red, green and blue memory banks of the image processing board and then added the red image to the red bank. On the contrary, pure color images, red, green and blue components are obtained from the original bicolor images in the novel color system after the scaling factor is added to each RGB image. Our search for a bicolor robot vision system was entirely successful.

  16. Multi-Locomotion Robotic Systems New Concepts of Bio-inspired Robotics

    CERN Document Server

    Fukuda, Toshio; Sekiyama, Kosuke; Aoyama, Tadayoshi

    2012-01-01

    Nowadays, multiple attention have been paid on a robot working in the human living environment, such as in the field of medical, welfare, entertainment and so on. Various types of researches are being conducted actively in a variety of fields such as artificial intelligence, cognitive engineering, sensor- technology, interfaces and motion control. In the future, it is expected to realize super high functional human-like robot by integrating technologies in various fields including these types of researches. The book represents new developments and advances in the field of bio-inspired robotics research introducing the state of the art, the idea of multi-locomotion robotic system to implement the diversity of animal motion. It covers theoretical and computational aspects of Passive Dynamic Autonomous Control (PDAC), robot motion control, multi legged walking and climbing as well as brachiation focusing concrete robot systems, components and applications. In addition, gorilla type robot systems are described as...

  17. Automatic control system generation for robot design validation

    Science.gov (United States)

    Bacon, James A. (Inventor); English, James D. (Inventor)

    2012-01-01

    The specification and drawings present a new method, system and software product for and apparatus for generating a robotic validation system for a robot design. The robotic validation system for the robot design of a robotic system is automatically generated by converting a robot design into a generic robotic description using a predetermined format, then generating a control system from the generic robotic description and finally updating robot design parameters of the robotic system with an analysis tool using both the generic robot description and the control system.

  18. Mobility Systems For Robotic Vehicles

    Science.gov (United States)

    Chun, Wendell

    1987-02-01

    The majority of existing robotic systems can be decomposed into five distinct subsystems: locomotion, control/man-machine interface (MMI), sensors, power source, and manipulator. When designing robotic vehicles, there are two main requirements: first, to design for the environment and second, for the task. The environment can be correlated with known missions. This can be seen by analyzing existing mobile robots. Ground mobile systems are generally wheeled, tracked, or legged. More recently, underwater vehicles have gained greater attention. For example, Jason Jr. made history by surveying the sunken luxury liner, the Titanic. The next big surge of robotic vehicles will be in space. This will evolve as a result of NASA's commitment to the Space Station. The foreseeable robots will interface with current systems as well as standalone, free-flying systems. A space robotic vehicle is similar to its underwater counterpart with very few differences. Their commonality includes missions and degrees-of-freedom. The issues of stability and communication are inherent in both systems and environment.

  19. Evaluation formulas of manpower needs for dismantling of equipment in FUGEN-3. Dismantling process of the condenser removal

    International Nuclear Information System (INIS)

    Kubota, Shintaro; Izumo, Sari; Usui, Hideo; Kawagoshi, Hiroshi; Koda, Yuya; Nanko, Takashi

    2014-07-01

    Japan Atomic Energy Agency (JAEA) has been developing the PRODIA code which supports to make decommissioning plan and has been preparing evaluation formulas. Manpower needs for the dismantling of the condenser that had conducted from 2010 to 2012 was analyzed and compared with existing evaluation formulas. Applicability of evaluation formulas for a large scale reactor facility was confirmed in dismantling of the heat insulating materials and reliability of unit productivity factor was improved. The evaluation formula of work for clearance was made in dismantling of pipes and supports. Unit productivity factor of dismantling of feed water heaters which is applicable for a large scale reactor facility was derived. For derivation of unit productivity factor, statistically meaningful data was provided from the dismantling of the condenser. Manpower needs for dismantling of the condenser has positive correlation to the weight of equipment and can be described in linear expression. Reliability of each unit productivity factor will be improved with accumulating actual dismantling data in future. (author)

  20. Advanced robotic technologies for transfer at Sandia National Laboratories

    International Nuclear Information System (INIS)

    Bennett, P.C.

    1994-01-01

    Hazardous operations which have in the past been completed by technicians are under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. As a result, remote systems are needed to accomplish many hazardous materials handling tasks such as the clean-up of waste sites in which the exposure of personnel to radiation, chemical, explosive and other hazardous constituents is unacceptable. Computer models augmented by sensing, and structured, modular computing environments are proving effective in automating many unstructured hazardous tasks. Work at Sandia National Laboratories (SNL) has focused on applying flexible automation (robotics) to meet the needs of the U.S. Department of Energy (USDOE). Dismantling facilities, environmental remediation, and materials handling in changing, hazardous environments lead to many technical challenges. Computer planning, monitoring and operator assistance shorten training cycles, reduce errors, and speed execution of operations. Robotic systems that re-use well-understood generic technologies can be much better characterized than robotic systems developed for a particular application, leading to a more reliable and safer systems. Further safety in robotic operations results from use of environmental sensors and knowledge of the task and environment. Collision detection and avoidance is achieved from such sensor integration and model-based control. This paper discusses selected technologies developed at SNL for use within the USDOE complex that have been or are ready for transfer to government and industrial suppliers. These technologies include sensors, sub-systems, and the design philosophy applied to quickly integrate them into a working robotic system. This paper represents the work of many people at the Intelligent Systems and Robotics Center at SNL, to whom the credit belongs

  1. Human Robot Interaction for Hybrid Collision Avoidance System for Indoor Mobile Robots

    Directory of Open Access Journals (Sweden)

    Mazen Ghandour

    2017-06-01

    Full Text Available In this paper, a novel approach for collision avoidance for indoor mobile robots based on human-robot interaction is realized. The main contribution of this work is a new technique for collision avoidance by engaging the human and the robot in generating new collision-free paths. In mobile robotics, collision avoidance is critical for the success of the robots in implementing their tasks, especially when the robots navigate in crowded and dynamic environments, which include humans. Traditional collision avoidance methods deal with the human as a dynamic obstacle, without taking into consideration that the human will also try to avoid the robot, and this causes the people and the robot to get confused, especially in crowded social places such as restaurants, hospitals, and laboratories. To avoid such scenarios, a reactive-supervised collision avoidance system for mobile robots based on human-robot interaction is implemented. In this method, both the robot and the human will collaborate in generating the collision avoidance via interaction. The person will notify the robot about the avoidance direction via interaction, and the robot will search for the optimal collision-free path on the selected direction. In case that no people interacted with the robot, it will select the navigation path autonomously and select the path that is closest to the goal location. The humans will interact with the robot using gesture recognition and Kinect sensor. To build the gesture recognition system, two models were used to classify these gestures, the first model is Back-Propagation Neural Network (BPNN, and the second model is Support Vector Machine (SVM. Furthermore, a novel collision avoidance system for avoiding the obstacles is implemented and integrated with the HRI system. The system is tested on H20 robot from DrRobot Company (Canada and a set of experiments were implemented to report the performance of the system in interacting with the human and avoiding

  2. Development of a robot system for converter relining; Tenro chikuro robot system no kaihatsu

    Energy Technology Data Exchange (ETDEWEB)

    Ito, Y; Kurahashi, M [Nissan Motor Co. Ltd., Tokyo (Japan)

    1995-09-12

    In steelmaking plants, the relining work of converters requires plenty of manpower and time. Recently, the number of expert brick workers has decreased, and it has been difficult to get together the necessary number of workers for the converter relining. To solve these problems, a robot system has been developed and realized for the converter relining. The system consists of two intelligent robots and an automatic brick conveying machine. With visual function and flexibly controlled hands, the robot enables to heap up bricks in the same manner as expert workers do. The automatic brick conveying machine consists of roller conveyers and a cage lifter that convey bricks on palettes to the suitable position for the robot to easily handle. This robot system has enabled to save much labor for the converter relining. 8 figs.

  3. The dismantling of nuclear installations: The dismantling of nuclear installations at the CEA's Directorate for nuclear energy; The CEA's sanitation and dismantling works: example of one of the Marcoule UP1 program lots; Research and innovation in sanitation-dismantling; Global optimisation of the management of dismantling radioactive wastes

    International Nuclear Information System (INIS)

    Hauet, Jean-Pierre; Piketty, Laurence; Moitrier, Cyril; Blanchard, Samuel; Soulabaille, Yves; Georges, Christine; Dutzer, Michel; Legee, Frederic

    2016-01-01

    This publication proposes a set of four articles which addresses issues related to the dismantling of nuclear installations in France, notably for the different involved actors such as the CEA and the ANDRA. The authors more particularly address the issue and the general strategy of dismantling within the Directorate for nuclear energy of the CEA; comment the example of one of the Marcoule UP1 program lots to highlight sanitation and dismantling works performed by the CEA; discuss current research and innovation activities within the CEA regarding sanitation and dismantling; and comment how to globally optimise the management of radioactive wastes produced by dismantling activities

  4. Multibody system dynamics, robotics and control

    CERN Document Server

    Gerstmayr, Johannes

    2013-01-01

    The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap between the modeling of mechanical systems by means of multibody dynamics formulations and robotics. In the classical approach, a multibody dynamics model contains a very high level of detail, however, the application of such models to robotics or control is usually limited. The papers aim to connect the different scientific communities in multibody dynamics, robotics and control. Main topics are flexible multibody systems, humanoid robots, elastic robots, nonlinear control, optimal path planning, and identification.

  5. Mergeable nervous systems for robots.

    Science.gov (United States)

    Mathews, Nithin; Christensen, Anders Lyhne; O'Grady, Rehan; Mondada, Francesco; Dorigo, Marco

    2017-09-12

    Robots have the potential to display a higher degree of lifetime morphological adaptation than natural organisms. By adopting a modular approach, robots with different capabilities, shapes, and sizes could, in theory, construct and reconfigure themselves as required. However, current modular robots have only been able to display a limited range of hardwired behaviors because they rely solely on distributed control. Here, we present robots whose bodies and control systems can merge to form entirely new robots that retain full sensorimotor control. Our control paradigm enables robots to exhibit properties that go beyond those of any existing machine or of any biological organism: the robots we present can merge to form larger bodies with a single centralized controller, split into separate bodies with independent controllers, and self-heal by removing or replacing malfunctioning body parts. This work takes us closer to robots that can autonomously change their size, form and function.Robots that can self-assemble into different morphologies are desired to perform tasks that require different physical capabilities. Mathews et al. design robots whose bodies and control systems can merge and split to form new robots that retain full sensorimotor control and act as a single entity.

  6. Radiation exposure of the personnel during dismantling and cutting of the primary system of the Karlsruhe Multi-purpose Research Reactor (MZFR)

    International Nuclear Information System (INIS)

    Hesse, H.; Demant, W.; Reichert, A.; Willmann, F.

    2000-10-01

    The heavy water (D 2 O) cooled and moderated pressurized water reactor MZFR with a thermal power of 200 MW will be dismantled step-by-step within the framework of sectional decommissioning licenses. The past decommissioning step (6 th sectional license) in general covered the removal of the primary systems and of all reactor support systems inside the reactor building. The measures for radiation protection during dismantling and handling of the large components of the primary system, such as the fuel element loading machine, fuel element transfer system, steam generator and pressurizer shall be pointed out. The measures taken for the reduction of the dose rate during dismantling and cutting of the components for the purpose of conditioning or unrestricted reuse at the central decontamination department (HDB) shall be described. Chemical decontamination of the primary circuit and its components, which had to be executed in order to reduce the dose rates for subsequent manual dismantling, shall be presented. The efforts undertaken for the protection of individuals in view of the difficult radiological boundary conditions (high concentrations of tritium in all systems as well as very high alpha contamination) will be explained. Moreover, dose-minimizing measures during cutting of the primary circuit and its components at HDB shall be described by the example of the cutting of a steam generator. It shall be demonstrated that cutting and dismantling of highly contaminated and activated parts with high dose rates can be executed safely in terms of both the radiation exposure of the personnel and the technical, financial and time expenditure. (orig.)

  7. The dismantling of CEA nuclear installations

    International Nuclear Information System (INIS)

    Piketty, Laurence

    2016-03-01

    After having indicated locations of French nuclear installations which are currently being dismantled (about 30 installations), and recalled the different categories of radioactive wastes with respect to their activity level and the associated storage options, this article gives an overview of various aspects of dismantling, more precisely in the case of installations owned and managed by the CEA. These operations comprise the dismantling itself, the recovery and packaging of wastes, old effluents and spent fuels. The organisation and responsible departments within the CEA are presented, and the author outlines some operational problematic issues met due to the age of installations (traceability of activities, regulation evolutions). The issue of financing is then discussed, and its uncertainties are outlined. The dismantling strategy within the CEA-DEN is described, with reference to legal and regulatory frameworks. The next parts of the article address the organisation and the economic impact of these decontamination and dismantling activities within the CEA-DEN, highlight how R and D and advanced technology are a support to this activities as R and D actions address all scientific and technical fields of nuclear decontamination and dismantling. An overview of three important dismantling works is proposed: Fontenay-aux-Roses, the Marcoule CEA centre (a reference centre in the field of nuclear dismantling and decontamination) and the Grenoble CEA centre (reconversion in R and D activities in the fields of technologies of information, of communication, technologies, for health, and in renewable energies). The last part addresses the participation to the Strategic Committee of the Nuclear Sector (CSFN)

  8. The promising opportunity of dismantlement

    International Nuclear Information System (INIS)

    Anon.

    2009-01-01

    Civil engineering, mechanics and waste conditioning companies are thriving around the market of nuclear facilities dismantlement which is promised to a huge development in the coming decade. This paper presents a map of the opportunities of the dismantlement market throughout Europe (research and power reactors, fuel fabrication plants, spent fuel reprocessing plants) and a cost estimation of a given dismantling work with respect to the different steps of the work. In France a small core of about twenty companies is involved in nuclear dismantlement but the French market is also looking towards foreign specialists of this activity. The British market is also targeted by the French companies but for all the actors the technological or commercial advance gained today will be determining for the future markets. (J.S.)

  9. In-situ dismantling of plutonium-contaminated glove box

    International Nuclear Information System (INIS)

    Numata, Koji; Watanabe, Hisashi; Ishikawa, Hisashi; Miyo, Hiroaki; Ohtsuka, Katsuyuki

    1980-01-01

    A plutonium-contaminated glove box was dismantled along with the development of the treatment techniques for plutonium-bearing wastes. The objectives of this in-situ dismantling of the glove box are to reuse the Plutonium Fuel Fabrication Facility more efficiently, to reduce the volume of wastes generated during the dismantling, and to acquire dismantling techniques for decommissioning the Plutonium Fuel Fabrication Facility in the future. Prior to the dismantling works, a greenhouse for decontamination was installed, and the decontamination with surfactants was performed. Unremovable contamination was coated with paint. After this greenhouse was removed, the main greenhouse for dismantling and three greenhouses for contamination control were assembled. The main workers wearing protective devices engaged in dismantling works in the greenhouse. As the protective devices, anorak type PVC suits with air line masks, Howell type pressurized suits, and respirators were used. The tools used for the dismantling are a plasma cutter, an electric nibbler, an electric disk grinder, an electric circular saw and an electric jig saw. The results of the dismantling in-situ were compared with two previous cases of dismantling carried out by different procedures. In the case of in-situ dismantling, the volume of wastes was 1.6 - 1.8 m 3 /m 3 of glove box, and considerable reduction was realized. (Kako, I.)

  10. Implementation and Reconfiguration of Robot Operating System on Human Follower Transporter Robot

    Directory of Open Access Journals (Sweden)

    Addythia Saphala

    2015-10-01

    Full Text Available Robotic Operation System (ROS is an im- portant platform to develop robot applications. One area of applications is for development of a Human Follower Transporter Robot (HFTR, which  can  be  considered  as a custom mobile robot utilizing differential driver steering method and equipped with Kinect sensor. This study discusses the development of the robot navigation system by implementing Simultaneous Localization and Mapping (SLAM.

  11. Provisions for the dismantling of nuclear facilities are sufficient

    International Nuclear Information System (INIS)

    Le Ngoc, B.

    2016-01-01

    The European Union has assessed the provisions made by the nuclear plant operators to face the future costs of dismantling. The United-Kingdom and the Netherlands are the single E.U. members to have provisions covering the whole of the expenses (respectively 100% and 94%). The figure for France is very low 33% (far below the European average of 56%). According to French authorities the provisions for the dismantling of nuclear facilities are strictly defined by law: they must be made progressively till the decommissioning and they must be composed by dedicated assets. The costs of the dismantling is regularly re-assessed for taking into account technological progress and changes in regulation. Furthermore the French system limits the period in which provisions are made to the initial operating life of the plant: mostly 40 years which is a prudent measure. In other E.U. members like Germany, the provisions are not covered by dedicated assets which might endanger the capacity of the operator to face the future costs. The progressiveness of the French systems of provision-making is fair because the dismantling costs are spread equally over the entire operating period of the facility. (A.C.)

  12. High precision detector robot arm system

    Science.gov (United States)

    Shu, Deming; Chu, Yong

    2017-01-31

    A method and high precision robot arm system are provided, for example, for X-ray nanodiffraction with an X-ray nanoprobe. The robot arm system includes duo-vertical-stages and a kinematic linkage system. A two-dimensional (2D) vertical plane ultra-precision robot arm supporting an X-ray detector provides positioning and manipulating of the X-ray detector. A vertical support for the 2D vertical plane robot arm includes spaced apart rails respectively engaging a first bearing structure and a second bearing structure carried by the 2D vertical plane robot arm.

  13. Remote tool development for nuclear dismantling operations

    International Nuclear Information System (INIS)

    Craig, G.; Ferlay, J.C.; Ieracitano, F.

    2003-01-01

    Remote tool systems to undertake nuclear dismantling operations require careful design and development not only to perform their given duty but to perform it safely within the constraints imposed by harsh environmental conditions. Framatome ANP NUCLEAR SERVICES has for a long time developed and qualified equipment to undertake specific maintenance operations of nuclear reactors. The tool development methodology from this activity has since been adapted to resolve some very challenging reactor dismantling operations which are demonstrated in this paper. Each nuclear decommissioning project is a unique case, technical characterisation data is generally incomplete. The development of the dismantling methodology and associated equipment is by and large an iterative process combining design and simulation with feasibility and validation testing. The first stage of the development process involves feasibility testing of industrial tools and examining adaptations necessary to control and deploy the tool remotely with respect to the chosen methodology and environmental constraints. This results in a prototype tool and deployment system to validate the basic process. The second stage involves detailed design which integrates any remaining technical and environmental constraints. At the end of this stage, tools and deployment systems, operators and operating procedures are qualified on full scale mock ups. (authors)

  14. Experience in the decontamination and dismantling of alpha facilities

    International Nuclear Information System (INIS)

    Charamathieu, A.

    1988-01-01

    Experience in dismantling alpha-containing radiochemical installations in France is described. The dismantling programme undertaken by the Societe des Techniques en Milieu Ionisant since 1977 is tabulated. This includes the dismantling of CALCIO and FLUO (plutonium metal), the dismantling of a slag processing plant, the dismantling of part of a medium activity plutonium mine and the dismantling of rooms 82-100 at Marcoule, France. (author)

  15. Technical challenges for dismantlement verification

    International Nuclear Information System (INIS)

    Olinger, C.T.; Stanbro, W.D.; Johnston, R.G.; Nakhleh, C.W.; Dreicer, J.S.

    1997-01-01

    In preparation for future nuclear arms reduction treaties, including any potential successor treaties to START I and II, the authors have been examining possible methods for bilateral warhead dismantlement verification. Warhead dismantlement verification raises significant challenges in the political, legal, and technical arenas. This discussion will focus on the technical issues raised by warhead arms controls. Technical complications arise from several sources. These will be discussed under the headings of warhead authentication, chain-of-custody, dismantlement verification, non-nuclear component tracking, component monitoring, and irreversibility. The authors will discuss possible technical options to address these challenges as applied to a generic dismantlement and disposition process, in the process identifying limitations and vulnerabilities. They expect that these considerations will play a large role in any future arms reduction effort and, therefore, should be addressed in a timely fashion

  16. Nuclear installations: decommissioning and dismantling

    International Nuclear Information System (INIS)

    Anon.

    1995-01-01

    This document is a compilation of seven talks given during the 1995 EUROFORUM conference about decommissioning and dismantling of Nuclear installations in the European Community. The first two papers give a detailed description of the legal, financial and regulatory framework of decommissioning and dismantling of nuclear facilities in the European Union and a review of the currently available decommissioning techniques for inventory, disassembly, decontamination, remote operations and management of wastes. Other papers describe some legal and technical aspects of reactor and plants dismantling in UK, Germany, Spain and France. (J.S.)

  17. Overall strategy of Creys Malville power station dismantling

    International Nuclear Information System (INIS)

    Alphonse, P.

    2002-01-01

    The power station was stopped by a government decision following the elections in 1997. This shutdown was then made official by a letter dated April 1998 and the decree of December 1998. This was a non-technical shutdown and as such had not been envisaged; there has been no early warning. Current dismantling strategy: The studies leading to shutdown and then dismantling were engaged in 1998 based on a scenario with a status corresponding to IAEA level 2 until 2046. In 2001, EDF management made the decision to dismantle all the first generation power stations and Creys Malville between now and 2025. It should be noted that the presence of strongly irradiated stellite in the Creys Malville reactor would still require remote systems for working in the reactor block after 2046. The sequence of operations dictated by the dismantling strategy is as follows: eliminate the risks as soon as possible and in particular the risk related to the sodium, 3300 tonnes of which is kept in liquid form in the reactor vessel; dismantle the most active parts which are too radioactive to be sent to the existing or planned storage centres. This may lead to on-site storage to allow decay to occur before sending to a storage centre; planning of the work interventions in order to limit the costs

  18. UDIN's dismantling projects

    International Nuclear Information System (INIS)

    Laffaille, C.

    1993-01-01

    The role of UDIN (Central unit for nuclear facility decommissioning) at the CEA is reviewed together with the main specific aspects of nuclear dismantling: the different options and dismantling strategies and costs. The characteristics of the main on-going projects are described: graphite-gas reactors (G2/G3), RAPSODIE (RNR), AT1 (pilot RNR fuel reprocessing plant), ELAN II B (Cesium source conditioning plant), EL4 (heavy water/CO2 reactor), RM2 (fuel control radio-metallurgical laboratory) and UB-UM (Uranium enrichment plant)

  19. Study on applicability of evaluation model of manpower needs for dismantling of equipments in FUGEN-1. Dismantling process in 3rd/4th feedwater heater room

    International Nuclear Information System (INIS)

    Shibahara, Yuji; Izumi, Masanori; Nanko, Takashi; Tachibana, Mitsuo; Ishigami, Tsutomu

    2010-10-01

    Manpower needs for the dismantling process on the dismantling of equipments in FUGEN 3rd/4th feedwater heater room was calculated with the management data evaluation system (PRODIA Code), and it was inspected whether the conventional evaluation model had applicability for FUGEN or not. It was confirmed that the conventional evaluation model for feedwater heater had no applicability. In comparison of the calculated value with the actual data, we found two difference: 1) the calculated value were significantly larger than the actual data, 2) the actual data for the dismantling of 3rd feedwater heater was twice larger than that of 4th feedwater heater, though these equipments were almost same weight. It was found that these were brought 1) by the difference in the work descriptions of dismantling between JPDR and FUGEN, and 2) by that in the cutting number between 3rd feedwater heater and 4th one. The manpower needs for the dismantling of both feedwater heaters were calculated with a new calculation equation reflecting the descriptions of dismantling, and it was found that these results showed the good agreement with the actual data. (author)

  20. Hazardous-environment problems: Mobile robots to the rescue

    International Nuclear Information System (INIS)

    Meieran, H.B.

    1992-01-01

    This paper presents a rationale for employing a spectrum of similar mobile robots to conduct appropriate common missions for the following five hazardous-environment issues: (1) dismantlement of nuclear weapons; (2) environmental restoration and waste management of US Department of Energy weapons sites; (3) operations in nuclear power plants and other facilities; (4) waste chemical site remediation and cleanup activities; and (5) assistance in handling toxic chemical/radiation accidents. Mobile robots have been developed for several hazardous-environment industries, the most visible ones being construction/excavation/tunneling, explosive ordnance/bomb disposal (EOD), fire-fighting, military operations, mining, nuclear, and security. A summary of the range of functions that mobile robots are currently capable of conducting is presented

  1. SGDES: Management system dismantling of ENRESA; SGDES: Sistema de gestion de desmantelamiento de ENRESA

    Energy Technology Data Exchange (ETDEWEB)

    Julian, A. de; Fernandez, M.; Vidaechea, S.

    2013-07-01

    ENRESA, the Spanish public company responsible for managing radioactive waste and nuclear facilities decommissioning, has developed a management information system (SGDES) for the decommissioning of nuclear power plants. Dismantling activities require a rigorous operations control within highly specialized, process systematization and safety framework, both under human and technological point of view. SGDES system is capable of responding to the mentioned operational needs, efficiently and safely.

  2. Removal of an acid fume system contaminated with perchlorates located within hot cell

    International Nuclear Information System (INIS)

    Rosenberg, K.E.; Henslee, S.P.; Vroman, W.R.; Krsul, J.R.; Michelbacher, J.A.; Knighton, G.C.

    1992-09-01

    An add scrubbing system located within the confines of a highly radioactive hot cell at Argonne National Laboratory-West (ANL-W) was remotely removed. The acid scrubbing system was routinely used for the dissolution of irradiated reactor fuel samples and structural materials. Perchloric acid was one of the acids used in the dissolution process and remained in the system with its inherent risks. Personnel could not enter the hot cell to perform the dismantling of the acid scabbing system due to the high radiation field and the explosion potential associated with the perchlorates. A robot was designed and built at ANL-W and used to dismantle the system without the need for personnel entry into the hot cell. The robot was also used for size reduction of removed components and loading of the removed components into waste containers

  3. Medical Robots: Current Systems and Research Directions

    Directory of Open Access Journals (Sweden)

    Ryan A. Beasley

    2012-01-01

    Full Text Available First used medically in 1985, robots now make an impact in laparoscopy, neurosurgery, orthopedic surgery, emergency response, and various other medical disciplines. This paper provides a review of medical robot history and surveys the capabilities of current medical robot systems, primarily focusing on commercially available systems while covering a few prominent research projects. By examining robotic systems across time and disciplines, trends are discernible that imply future capabilities of medical robots, for example, increased usage of intraoperative images, improved robot arm design, and haptic feedback to guide the surgeon.

  4. Robotic system for glovebox size reduction

    International Nuclear Information System (INIS)

    KWOK, KWAN S.; MCDONALD, MICHAEL J.

    2000-01-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories (SNL) is developing technologies for glovebox size reduction in the DOE nuclear complex. A study was performed for Kaiser-Hill (KH) at the Rocky Flats Environmental Technology Site (RFETS) on the available technologies for size reducing the glovebox lines that require size reduction in place. Currently, the baseline approach to these glovebox lines is manual operations using conventional mechanical cutting methods. The study has been completed and resulted in a concept of the robotic system for in-situ size reduction. The concept makes use of commercially available robots that are used in the automotive industry. The commercially available industrial robots provide high reliability and availability that are required for environmental remediation in the DOE complex. Additionally, the costs of commercial robots are about one-fourth that of the custom made robots for environmental remediation. The reason for the lower costs and the higher reliability is that there are thousands of commercial robots made annually, whereas there are only a few custom robots made for environmental remediation every year. This paper will describe the engineering analysis approach used in the design of the robotic system for glovebox size reduction

  5. The further development and evaluation of an automatic dismantler of short staple ring-spun yarns

    CSIR Research Space (South Africa)

    Fassihi, A

    2014-07-01

    Full Text Available Information System (AFIS) single fiber length tests, the fibers from automatically dismantled ring-spun cotton yarns are very similar in their properties to those dismantled by hand (manually). It was also found that, at a speed of 2 m/min, the yarn dismantler...

  6. Robotics Inspection Vehicle for Advanced Storages

    Energy Technology Data Exchange (ETDEWEB)

    Ruiz, Emilio; Renaldi, Graziano; Puig, David; Franzetti, Michele; Correcher, Carlos [European Commission, Ispra (Italy). Inst. for the Protection and Security of the Citizen

    2003-05-01

    After the dismantling of nuclear weapons and the probable release of large quantities of weapon graded materials under international verification regimes, there will be a wide interest in unmanned, highly automated and secure storage areas. In such circumstances, robotics technologies can provide an effective answer to the problem of securing, manipulating and inventorying all stored materials. In view of this future application JRC's NPNS started the development and construction of an advanced robotics prototype and demonstration system, named Robotics Inspection Vehicle (RIV), for remote inspection, surveillance and remote handling in those areas. The system was designed to meet requirements of reliability, security, high availability, robustness against radiation effects, self-maintainability (i.e., auto-repair capability), and easy installation. Due to its innovative holonomic design, RIV is a highly maneuverable and agile platform able to move in any direction, including sideways. The platform carries on-board a five degree of freedom manipulator arm. The high maneuverability and operation modes take into account the needs for accessing in the most easy way materials in the storage area. The platform is prepared to operate in one of three modes: i) manual tele-operation, ii) semiautonomous and iii) fully autonomous. The paper describes RIV's main design features, and details its GENERIS based control software [JRC's software architecture for robotics] and embedded sensors (i.e., 3D laser range, transponder antenna, ultra-sound, vision-based robot guidance, force-torque sensors, etc.). RIV was designed to incorporate several JRC innovative surveillance and inspection technologies and reveals that the current state of technology is mature to effectively provide a solution to novel storage solutions. The system is available for demonstration at JRC's Rialto Laboratory.

  7. System approach as a tool for optimization of the dismantling technological process of NPP decommissioning

    International Nuclear Information System (INIS)

    Bylkin, B.K.; Shpitser, V.Ya.

    1994-01-01

    The concept of NPP unit decommissioning has been considered. Special attention was paid to the stage of dismantling of NPP unit equipment. Employment of systematic approach as a tool for optimization of dismantling processes permits formalizing manipulations with certified indices of quality and it permits an objective assessment of the dismantling technology level attained during designing as compared with the basic one. It seems appropriate to develop a basic project of NPP unit decommissioning as a technical means of planning, predicting and evaluating ecological and social aftereffects

  8. Development of project management data calculation models relating to dismantling of nuclear facilities. Contract research

    Energy Technology Data Exchange (ETDEWEB)

    Sukegawa, Takenori; Ohshima, Soichiro; Shiraishi, Kunio; Yanagihara, Satoshi [Department of Decommissioning and Waste Management, Tokai Research Establishment, Japan Atomic Energy Research Institute, Tokai Ibaraki (Japan)

    1999-02-01

    Labor-hours necessary for dismantling activities are generally estimated based on experience, for example, as a form of unit productivity factors such as the relationship between labor-hours and weight of components dismantled which were obtained by actual dismantling activities. The project management data calculation models together with unit productivity factors for basic dismantling work activities were developed by analyzing the data obtained from the Japan Power Demonstration Reactor (JPDR) dismantling project, which will be applicable to estimation of labor-hours in various dismantling conditions. Typical work breakdown structures were also prepared by categorizing repeatable basic dismantling work activities for effective planning of dismantling activities. The labor-hours for dismantling the JPDR components and structures were calculated by using the code system for management of reactor decommissioning (COSMARD), in which the work breakdown structures and the calculation models were contained. It was confirmed that the labor-hours could be easily estimated by COSMARD through the calculations. This report describes the labor-hour calculation models and application of these models to COSMARD. (author)

  9. 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)

  10. Dismantling of nuclear facilities: the industrial know-how

    International Nuclear Information System (INIS)

    Lellament, R.

    2004-01-01

    Numerous nuclear facilities in laboratories or research reactors have been decommissioned and dismantled over the 2 last decades throughout the world. The valuable feedback experience has allowed nuclear industry to design, upgrade and test specific techniques for dismantling. These techniques are efficient although they have been validated on a reduced number of nuclear power plants. In France only 3 power units have been dismantled: Chinon A1, A2 and Brennilis (EL4) and they are not representative of the real park of EDF'reactors. 6 PWR-type reactors have already been dismantled in the Usa. The results of a survey concerning 26 countries shows that the dismantling cost is around 320 dollars/kWe, it represents 15% of the construction cost which is far from being excessive as it is often read in the media. The dismantling costs can be broken into: - de-construction (25-55%), - wastes from dismantling (17-43%), - security and monitoring (8-13%), - site reclamation (5-13%), and - engineering and project management (5-24%). (A.C.)

  11. Optimized phases for reactor dismantling – an efficient and sustainable concept

    International Nuclear Information System (INIS)

    Krüger, S.; Winter, J.

    2013-01-01

    D&D projects are driven by costs, to implement an optimization process from the very beginning is key. Optimized strategy and sequencing of the dismantling (hot to cold) will provide serious economical savings . Larger dismantling packages will reduce interfaces and ease the coordination efforts on site. Early usage of mobile systems will ease the large-scale release for dismantling Social transition has to be addressed with priority and to be planned at an early phase in the D&D planning Concept, Planning & Project Management will influence the success of the project much more than the used technique

  12. Modular Track System For Positioning Mobile Robots

    Science.gov (United States)

    Miller, Jeff

    1995-01-01

    Conceptual system for positioning mobile robotic manipulators on large main structure includes modular tracks and ancillary structures assembled easily along with main structure. System, called "tracked robotic location system" (TROLS), originally intended for application to platforms in outer space, but TROLS concept might also prove useful on Earth; for example, to position robots in factories and warehouses. T-cross-section rail keeps mobile robot on track. Bar codes mark locations along track. Each robot equipped with bar-code-recognizing circuitry so it quickly finds way to assigned location.

  13. Supervisory control for a complex robotic system

    International Nuclear Information System (INIS)

    Miller, D.J.

    1988-01-01

    The Robotic Radiation Survey and Analysis System investigates the use of advanced robotic technology for performing remote radiation surveys on nuclear waste shipping casks. Robotic systems have the potential for reducing personnel exposure to radiation and providing fast reliable throughput at future repository sites. A primary technology issue is the integrated control of distributed specialized hardware through a modular supervisory software system. Automated programming of robot trajectories based upon mathematical models of the cask and robot coupled with sensory feedback enables flexible operation of a commercial gantry robot with the reliability needed to perform autonomous operations in a hazardous environment. Complexity is managed using structured software engineering techniques resulting in the generation of reusable command primitives which contribute to a software parts catalog for a generalized robot programming language

  14. Multi-sensor measurement system for robotic drilling

    OpenAIRE

    Frommknecht, Andreas; Kühnle, Jens; Pidan, Sergej; Effenberger, Ira

    2015-01-01

    A multi-sensor measurement system for robotic drilling is presented. The system enables a robot to measure its 6D pose with respect to the work piece and to establish a reference coordinate system for drilling. The robot approaches the drill point and performs an orthogonal alignment with the work piece. Although the measurement systems are readily capable of achieving high position accuracy and low deviation to perpendicularity, experiments show that inaccuracies in the robot's 6D-pose and e...

  15. Development and evaluation of a dismantling planning support system based on augmented reality technology

    International Nuclear Information System (INIS)

    Ishii, Hirotake; Oshita, Satoshi; Yan Weida; Shimoda, Hiroshi; Izumi, Masanori

    2011-01-01

    For this study, a Dismantling Planning Support System (DPSS) based on Augmented Reality technology was developed. Its effectiveness and applicability to a real working field were evaluated using a subjective experiment. The DPSS operators can simulate how to locate scaffolding and temporary enclosures (greenhouses) in a real dismantling field in order to decide their layout and to predict the amounts of necessary parts. An interview and questionnaire survey were conducted with Fugen Decommissioning Engineering Center (DEC) staff and a human interface expert, who used DPSS along with a scenario in which scaffolding and greenhouses were located in a turbine cooling water room of Fugen DEC. The experimental results show that the operation for locating the virtual scaffolding and greenhouses using marker boards is intuitive and comprehensive. However, additional research needs to be undertaken in order to improve the DPSS, particularly with respect to its graphical user interface. (author)

  16. Dismantling of transuranic contaminated facilities

    International Nuclear Information System (INIS)

    Roux, P.

    1985-01-01

    The dismantling of transuranic contaminated facilities raises specific problems. A large part of these problems relates to the management of the waste resulting from dismantling. From the experience gained in the different centers CEA and COGEMA it appears that there are industrial solutions in the group CEA and that an engineering company such as SGN can export them [fr

  17. Machine for dismantling metal parts

    Energy Technology Data Exchange (ETDEWEB)

    Prokopov, O.I.; Loginovskiy, V.I.; Yagudin, S.Z.

    1982-01-01

    The purpose of the invention is to reduce the outlays of time for dismantling metal parts under conditions of eliminating open gas and oil gushers in operational drilling. This goal is achieved because the machine for dismantling the metal parts is equipped with a set of clamping elements arranged on the chassis, where each of them has a drive.

  18. Robotics Technology Development Program

    International Nuclear Information System (INIS)

    1994-02-01

    The Robotics Technology Development Program (RTDP) is a ''needs-driven'' effort. A lengthy series of presentations and discussions at DOE sites considered critical to DOE's Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination ampersand Dismantlement (D ampersand D). The RTDP Group realized that much of the technology development was common (Cross Cutting-CC) to each of these robotics application areas, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT ampersand E) process urged an additional organizational break-out between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). The RDTP is thus organized around these application areas -- TWR, CAA, MWO, D ampersand D and CC ampersand AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas

  19. Method for dismantling shields

    International Nuclear Information System (INIS)

    Fukuzawa, Rokuro; Kondo, Nobuhiro; Kamiyama, Yoshinori; Kawasato, Ken; Hiraga, Tomoaki.

    1990-01-01

    The object of the present invention is to enable operators to dismantle shieldings contaminated by radioactivity easily and in a short period of time without danger of radiation exposure. A plurality of introduction pipes are embedded previously to the shielding walls of shielding members which contain a reactor core in a state where both ends of the introduction pipes are in communication with the outside. A wire saw is inserted into the introduction pipes to cut the shieldings upon dismantling. Then, shieldings can be dismantled easily in a short period of time with no radiation exposure to operator's. Further, according to the present invention, since the wire saw can be set easily and a large area can be cut at once, operation efficiency is improved. Further, since remote control is possible, cutting can be conducted in water and complicated places of the reactor. Biting upon starting the wire saw in the introduction pipe is reduced to facilitate startup for the rotation. (I.S.)

  20. Dismantling of nuclear facilities and related problems - Conference proceedings

    International Nuclear Information System (INIS)

    Tournebize, Frederic; Bordet, Didier; Charlety, Philippe; Gore, Thierry; Estrade, Jerome; Lemaire, Hermine; Ginet, Annick; Fabrier, Lionel; Evrard, Lydie; Furois, Timothee; Butez, Marc; Dutzer, Michel; Faure, Vincent; Billarand, Yann; Menuet, Lise; Lahaye, Thierry; Pin, Alain; Mougnard, Philippe; Charavy, Sylvain; Poncet, Philippe; Moggia, Fabrice; Dochy, Arnaud; Benjamin, Patrick; Poncet, Pierre-Emmanuel; Beneteau, Yannick; Richard, Jean-Baptiste; Pellenz, Gilles; Ollivier Dehaye, Catherine; Gerard, Stephane; Denissen, Luc; Davain, Henri; Duveau, Florent; Guyot, Jean-Luc; Ardellier, Luc

    2012-11-01

    The oldest French nuclear facilities, built for some of them in the 1950's for research or power generation purposes, have reached more or less the end of their life. More than 30 facilities have entered the shutdown or dismantling phase, among which 8 reactors of the very first generations of Electricite de France (EdF) reactors. The aim of this two-days conference is to take stock of the present day status and perspectives of the dismantling activity, to approach the question of the management of the wastes produced, and to share experience about large scale operations already carried out. This document gathers the available presentations given during this conference: 1 - the 'Passage' project (F. Tournebize); 2 - CEA-Grenoble: from Louis Neel to key enabling technologies (D. Bordet); 3 - Dismantling actions in France (L. Evrard); 4 - Securing control of long-term charges funding (T. Furois); 5 - Waste disposal projects and their contribution to the management of dismantling wastes (M. Butez); 6 - Specificities linked with dismantling activities (Y. Billarand); 7 - Dismantling safety: the ASN's point of view (L. Evrad); 8 - Labor Ministry viewpoint about the dismantling related questions (T. Lahaye); 9 - Consideration of organizational and human factors in dismantling operations: a new deal in the operators-service providers relation (L. Menuet); 10 - Diploma and training experience (A. Pin); 11 - Glove-boxes dismantling at La Hague plant - status and experience feedback (P. Mougnard); 12 - Dismantling of Siloe reactor (CEA-Grenoble): application of the ALARA approach (P. Charlety); 13 - BR3 - a complex dismantling: the neutron shield tank (NST) in remote operation and indirect vision (L. Denissen); 14 - Cleansing and dismantling of the Phebus PF containment (S. Charavy); 15 - Integration of dismantling at the design and exploitation stages of nuclear facilities (P. Poncet); 16 - Consideration during the design and exploitation stages of dispositions aiming at

  1. Weapons dismantlement issues in independent Ukraine

    International Nuclear Information System (INIS)

    Zack, N.R.

    1995-01-01

    The American Association for the Advancement of Science sponsored a seminar during September 1993 in Kiev, Ukraine, titled, ''Toward a Nuclear-Free Future--Barriers and Problems.'' It brought together Ukrainians, Belarusians and Americans to discuss the legal, political, economic, technical, and safeguards and security dimensions of nuclear weapons dismantlement and destruction. US representatives initiated discussions on legal and treaty requirements and constraints, safeguards and security issues surrounding dismantlement, storage and disposition of nuclear materials, warhead transportation, and economic considerations. Ukrainians gave presentations on arguments for and against the Ukraine keeping nuclear weapons, the Ukrainian Parliament's nonapproval of START 1, alternative strategies for dismantling silos and launchers, and economic and security implications of nuclear weapons removal from the Ukraine. Participants from Belarus discussed proliferation and control regime issues. This paper will highlight and detail the issues, concerns and possible impacts of the Ukraine's dismantlement of its nuclear weapons

  2. Stage 2: dismantling of reactor case of the experimental F.B.R. Rapsodie

    International Nuclear Information System (INIS)

    Roger, J.

    1994-01-01

    This document defines the main objectives of stage 2 dismantling of the Rapsodie experimental fast neutron reactor and specifies its time schedule. The work already in progress consists in containing the reactor vessel and its internal equipment, as well as the neutron protection concrete, inside the two leak-tight barriers, and in dismantling all the systems and equipment systems contaminated by sodium. This work, which includes the destruction of 37 metric tons of contaminated sodium from the primary system, was begun in 1987 and will be completed in 1994. The duration of the waiting period for complete dismantling (stage 3) has not been defined. However, the containment and monitoring means implemented should allow a safe waiting period of several decades. (author). 4 figs

  3. Mobile robot worksystem (Rosie). Innovative technology summary report

    International Nuclear Information System (INIS)

    1999-05-01

    The US Department of Energy (DOE) and the Federal Energy Technology Center (FETC) have developed a Large Scale Demonstration Project (LSDP) at the Chicago Pile-5 Research Reactor (CP-5) at Argonne National Laboratory-East (ANL). The objective of the LSDP is to demonstrate potentially beneficial Deactivation and Decommissioning (D and D) technologies in comparison with current baseline technologies. Rosie is a mobile robot worksystem developed for nuclear facilities D and D. Rosie performs mechanical dismantlement of radiologically contaminated structures by remotely deploying other tools or systems. At the CP-5 reactor site, Rosie is a mobile platform used to support reactor assembly demolition through its long reach, heavy lift capability and its deployment and positioning of a Kraft Predator dexterous manipulator arm. Rosie is a tethered, 50 m (165 ft) long, robotic system controlled via teleoperation from a control console that is located outside of the radiological containment area. The operator uses Rosie to move, lift or offload radioactive materials using its integral lifting hook or to position the Kraft Predator arm in locations where the arm can be used to dismantle parts of the CP-5 reactor. The specific operating areas were concentrated in two high radiation areas, one at the top of the reactor structure atop and within the reactor tank assembly and the second at a large opening on the west side of the reactor's biological shield called the west thermal column. In the first of these areas, low level radioactive waste size previously segmented or dismantled by the Dual Arm Work Platform (DAWP) and placed into a steel drum or transfer can were moved to a staging area for manual packaging. In the latter area, the manipulator arm removed and transferred shielding blocks from the west thermal column area of the reactor into waste containers. Rosie can also deploy up to twelve remotely controlled television cameras, some with microphones, which can be used

  4. The timing of reactor dismantling

    International Nuclear Information System (INIS)

    Roberts, P.

    2000-01-01

    Work has been progressing across the world for the decommissioning of nuclear reactors. The initial work focused on the early, complete dismantling but this was associated with small size reactors and was done for experimental or demonstration purposes. The situation now is that an increasing number of full size power reactors are being shutdown and decision are being made as to the decommissioning strategy to be applied, e.g. with respect to the appropriate timing of reactor dismantling. There are two basic approaches to the timing of reactor dismantling, which are to either proceed with dismantling on an early time scale or to delay it for a period of years. There are a number of examples worldwide of both approaches being taken but one common feature of the approach taken by most countries is that decisions are made on a case by case basis, taking account of relevant factors, and as a result the strategy can vary from reactor to reactor and from country to country. Decisions on timing take account of the following main factors: safety, radioactive decay, financial factors, radioactive waste, reactor type, technology, repository availability, site re-use, regulatory standards, plant knowledge/records, other issues

  5. Master-slave robotic system for needle indentation and insertion.

    Science.gov (United States)

    Shin, Jaehyun; Zhong, Yongmin; Gu, Chengfan

    2017-12-01

    Bilateral control of a master-slave robotic system is a challenging issue in robotic-assisted minimally invasive surgery. It requires the knowledge on contact interaction between a surgical (slave) robot and soft tissues. This paper presents a master-slave robotic system for needle indentation and insertion. This master-slave robotic system is able to characterize the contact interaction between the robotic needle and soft tissues. A bilateral controller is implemented using a linear motor for robotic needle indentation and insertion. A new nonlinear state observer is developed to online monitor the contact interaction with soft tissues. Experimental results demonstrate the efficacy of the proposed master-slave robotic system for robotic needle indentation and needle insertion.

  6. Safety assessment of high consequence robotics system

    International Nuclear Information System (INIS)

    Robinson, D.G.; Atcitty, C.B.

    1996-01-01

    This paper outlines the use of a failure modes and effects analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, the weigh and leak check system, is to replace a manual process for weight and leakage of nuclear materials at the DOE Pantex facility. Failure modes and effects analyses were completed for the robotics process to ensure that safety goals for the systems have been met. Due to the flexible nature of the robot configuration, traditional failure modes and effects analysis (FMEA) were not applicable. In addition, the primary focus of safety assessments of robotics systems has been the protection of personnel in the immediate area. In this application, the safety analysis must account for the sensitivities of the payload as well as traditional issues. A unique variation on the classical FMEA was developed that permits an organized and quite effective tool to be used to assure that safety was adequately considered during the development of the robotic system. The fundamental aspects of the approach are outlined in the paper

  7. The Human-Robot Interaction Operating System

    Science.gov (United States)

    Fong, Terrence; Kunz, Clayton; Hiatt, Laura M.; Bugajska, Magda

    2006-01-01

    In order for humans and robots to work effectively together, they need to be able to converse about abilities, goals and achievements. Thus, we are developing an interaction infrastructure called the "Human-Robot Interaction Operating System" (HRI/OS). The HRI/OS provides a structured software framework for building human-robot teams, supports a variety of user interfaces, enables humans and robots to engage in task-oriented dialogue, and facilitates integration of robots through an extensible API.

  8. 3D printing of soft robotic systems

    Science.gov (United States)

    Wallin, T. J.; Pikul, J.; Shepherd, R. F.

    2018-06-01

    Soft robots are capable of mimicking the complex motion of animals. Soft robotic systems are defined by their compliance, which allows for continuous and often responsive localized deformation. These features make soft robots especially interesting for integration with human tissues, for example, the implementation of biomedical devices, and for robotic performance in harsh or uncertain environments, for example, exploration in confined spaces or locomotion on uneven terrain. Advances in soft materials and additive manufacturing technologies have enabled the design of soft robots with sophisticated capabilities, such as jumping, complex 3D movements, gripping and releasing. In this Review, we examine the essential soft material properties for different elements of soft robots, highlighting the most relevant polymer systems. Advantages and limitations of different additive manufacturing processes, including 3D printing, fused deposition modelling, direct ink writing, selective laser sintering, inkjet printing and stereolithography, are discussed, and the different techniques are investigated for their application in soft robotic fabrication. Finally, we explore integrated robotic systems and give an outlook for the future of the field and remaining challenges.

  9. Getting a remote grip on defence waste: a survey of the US DoE's Robotic Technology Development Programme

    International Nuclear Information System (INIS)

    Yarbrough, L.W.

    1994-01-01

    Robots are being developed to work in various practical applications at US Department of Environment site clean-up projects. The sites involved contain large quantities of radioactive waste and contaminated facilities left from the nuclear weapons programme. Four areas of short-term applied robotics have been identified. The first of these is Tank Waste Retrieval which requires the use of long-reach robot manipulators. The second is the Contaminant Analysis Automation programme in which equipment to automate the characterization of chemical, biological and radiological samples is being developed. Developing systems to handle and pre-process mixed waste containers and their contents, and to deal with the final processed waste forms, is the object of the Mixed Waste Operations programme. Decontamination and dismantling is the fourth major robotics area. Linking all these projects together and directed at common areas of concern is the longer-term Cross Cutting and Advanced Technology programme. (UK)

  10. Cleansing and dismantling of CEA-Saclay nuclear licensed facilities

    International Nuclear Information System (INIS)

    Jeanjacques, Michel; Delaire, Isabelle; Glevarec, Rebecca; Mandard, Lionel; Martin, Jean-Louis; Serrano, Roger

    2013-01-01

    This summary presents the cleansing and dismantling operations currently realized on the CEA center of Saclay (CEA-Saclay). It was initiated at the beginning of the 2000 years a cleansing and dismantling program of the old Nuclear Licensed Facilities (NLF). Currently this program relates the dismantling operations to the Hot Laboratories (Laboratoires de Haute Activite: LHA) and the old workshops of the Liquid Waste Treatment Plant (Station des Effluents Liquides: STEL), the dismantling preparation of Ulysse reactor and the dismantling studies to the Solid Waste Management Plant (SWMP; Zone de Gestion des Dechets Solides) and the Osiris reactor. (authors)

  11. Robotic guarded motion system and method

    Science.gov (United States)

    Bruemmer, David J.

    2010-02-23

    A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

  12. Integrating Soft Robotics with the Robot Operating System: A Hybrid Pick and Place Arm

    Directory of Open Access Journals (Sweden)

    Ross M. McKenzie

    2017-08-01

    Full Text Available Soft robotic systems present a variety of new opportunities for solving complex problems. The use of soft robotic grippers, for example, can simplify the complexity in tasks such as the grasping of irregular and delicate objects. Adoption of soft robotics by the informatics community and industry, however, has been slow and this is, in-part, due to the amount of hardware and software that must be developed from scratch for each use of soft system components. In this paper, we detail the design, fabrication, and validation of an open-source framework that we designed to lower the barrier to entry for integrating soft robotic subsystems. This framework is built on the robot operating system (ROS, and we use it to demonstrate a modular, soft–hard hybrid system, which is capable of completing pick and place tasks. By lowering this barrier to entry through our open sourced hardware and software, we hope that system designers and Informatics researchers will find it easy to integrate soft components into their existing ROS-enabled robotic systems.

  13. An approach to evaluate the cutting time for the nuclear dismantling simulation

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-10-15

    Nuclear power plant (NPP) decommissioning involves various processes and technologies. Decommissioning should be performed after a comprehensive review of the information related to these processes and technologies. There are various means of prior examination and evaluation to ensure the feasibility and safety of the decommissioning process plan. Our dismantling simulation system aims to simulate and evaluate whole processes related to the dismantlement of core equipment of NPP such as the device preparation, cutting operation, waste transfer, and so on. This paper introduces the estimation methodology of the time required for the cutting processes based on real cutting conditions in order to provide effective economic evaluation functionalities used for the system. The methodology to estimate the time required for the remote cutting process in the nuclear dismantling simulation system was proposed. Among the factors which mainly determine the time, the cutting trace was directly calculated from the simulation system and the continuous cutting speed was obtained by proper order of the spline fitting with constraint conditions.

  14. Assistive and Rehabilitation Robotic System

    Directory of Open Access Journals (Sweden)

    Adrian Abrudean

    2015-06-01

    Full Text Available A short introduction concerning the content of Assistive Technology and Rehabilitation Engineering is followed by a study of robotic systems which combine two or more assistive functions. Based on biomechanical aspects, a complex robotic system is presented, starting with the study of functionality and ending with the practical aspects of the prototype development.

  15. Decontamination and dismantling at the CEA

    International Nuclear Information System (INIS)

    2006-01-01

    This document presents the dismantling policy at the CEA (French Research Center on the atomic energy), the financing of the decontamination and the dismantling, the regulatory framework, the knowledge and the technology developed at the CEA, the radiation protection, the environment monitoring and the installations. (A.L.B.)

  16. Integrated Robotic systems for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    E. Colon

    2007-06-01

    Full Text Available This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typical data acquisition results obtained during trial campaigns with robots and data acquisition systems are reported. Lessons learned during the project and future work conclude this paper.

  17. Definition of a dismantling project

    International Nuclear Information System (INIS)

    Meyers, H.; Claes, J.; Geens, L.

    1988-01-01

    The shutdown of the fuel reprocessing plant of Eurochemic having been decided, a study for defining the facilities to be dismantled and how to do it, was conducted by Belgoprocess. The cost of the operation was estimated by an accurate investigation and by a pilot project on the dismantling of the wastes storage building. The work carried out up to now and the problems to be solved are summarized [fr

  18. A concept of distributed architecture for maintenance robot systems

    International Nuclear Information System (INIS)

    Asama, Hajime

    1990-01-01

    Aiming at development of a robot system for maintenance tasks in nuclear power plants, a concept of distributed architecture for autonomous robot systems is discussed. At first, based on investigation of maintenance tasks, requirements for maintenance robots are introduced, and structures to realize multi-functions are discussed. Then, as a new design strategy of maintenance robot system, an autonomous and decentralized robot systems is proposed, which is composed of multiple robots, computers, and equipments, and concept of ACTRESS (ACTor-based Robots and Equipments Synthetic System) including communication framework between robotic components is designed. Finally, as a model of ACTRESS, a experimental system is developed, which deals with object-pushing tasks by two micromice and an environment modeler with communicating with each other. Both of parallel independent motion and cooperative motion based on communication is reconciled, and the efficiency of the distributed architecture is verified. (author)

  19. DIRECT DISMANTLING OF REPROCESSING PLANT CELLS THE EUREX PLANT EXPERIENCEe2d12c

    International Nuclear Information System (INIS)

    Gili, M.; Troiani, F.; Risoluti, P.

    2003-01-01

    After finishing the reprocessing campaigns in 1970-1983, the EUREX pilot reprocessing plant of ENEA Saluggia Research Center started into a new phase, aiming to materials and irradiated fuel systemation and radioactive wastes conditioning. In 1997 the project ''CORA'' for a vitrification plant for the high and intermediate liquid radioactive wastes started. The ''CORA'' plant will be hosted in some dismantled cells of the EUREX plant, reusing many of the EUREX plant auxiliary systems, duly refurbished, saving money and construction time and avoiding a new nuclear building in the site. Two of the cells that will be reused were part of the EUREX chemical process (solvent recovery and 2nd extraction cycle) and the components were obviously internally contaminated. In 2000 the direct (hands-on) dismantling of one of them started and has been completed in summer 2002; the second one will be dismantled in the next year and then the ''CORA'' plant will be assembled inside the cells. Special care w as taken to avoid spread of contamination in the cells, where ''CORA'' installation activities will start in the next years, during the dismantling process The analysis of data and results collected during the dismantling of the first cell shows that direct dismantling can be achieved with careful choice of tools, procedures and techniques, to reduce volumes of wastes to be disposed and radiological burden

  20. International Conference on Intelligent Robots and Systems - IROS 2011

    CERN Document Server

    Rosen, Jacob; Redundancy in Robot Manipulators and Multi-Robot Systems

    2013-01-01

    The trend in the evolution of robotic systems is that the number of degrees of freedom increases. This is visible both in robot manipulator design and in the shift of focus from single to multi-robot systems. Following the principles of evolution in nature, one may infer that adding degrees of freedom to robot systems design is beneficial. However, since nature did not select snake-like bodies for all creatures, it is reasonable to expect the presence of a certain selection pressure on the number of degrees of freedom. Thus, understanding costs and benefits of multiple degrees of freedom, especially those that create redundancy, is a fundamental problem in the field of robotics. This volume is mostly based on the works presented at the workshop on Redundancy in Robot Manipulators and Multi-Robot Systems at the IEEE/RSJ International Conference on Intelligent Robots and Systems - IROS 2011. The workshopwas envisioned as a dialog between researchers from two separate, but obviously relatedfields of robotics: on...

  1. ROBOSIM, a simulator for robotic systems

    Science.gov (United States)

    Hinman, Elaine M.; Fernandez, Ken; Cook, George E.

    1991-01-01

    ROBOSIM, a simulator for robotic systems, was developed by NASA to aid in the rapid prototyping of automation. ROBOSIM has allowed the development of improved robotic systems concepts for both earth-based and proposed on-orbit applications while significantly reducing development costs. In a cooperative effort with an area university, ROBOSIM was further developed for use in the classroom as a safe and cost-effective way of allowing students to study robotic systems. Students have used ROBOSIM to study existing robotic systems and systems which they have designed in the classroom. Since an advanced simulator/trainer of this type is beneficial not only to NASA projects and programs but industry and academia as well, NASA is in the process of developing this technology for wider public use. An update on the simulators's new application areas, the improvements made to the simulator's design, and current efforts to ensure the timely transfer of this technology are presented.

  2. BRET fuel assembly dismantling machine

    International Nuclear Information System (INIS)

    Titzler, P.A.; Bennett, K.L.; Kelley, R.S. Jr.; Stringer, J.L.

    1984-08-01

    An automated remote nuclear fuel assembly milling and dismantling machine has been designed, developed, and demonstrated at the Hanford Engineering Development Laboratory (HEDL) in Richland, Washington. The machine can be used to dismantle irradiated breeder fuel assemblies from the Fast Flux Test Facility prior to fuel reprocessing. It can be installed in an existing remotely operated shielded hot cell facility, the Fuels and Materials Examination Facility (FMEF), at the Hanford Site in Richland, Washington

  3. Robotically assisted MRgFUS system

    Science.gov (United States)

    Jenne, Jürgen W.; Krafft, Axel J.; Maier, Florian; Rauschenberg, Jaane; Semmler, Wolfhard; Huber, Peter E.; Bock, Michael

    2010-03-01

    Magnetic resonance imaging guided focus ultrasound surgery (MRgFUS) is a highly precise method to ablate tissue non-invasively. The objective of this ongoing work is to establish an MRgFUS therapy unit consisting of a specially designed FUS applicator as an add-on to a commercial robotic assistance system originally designed for percutaneous needle interventions in whole-body MRI systems. The fully MR compatible robotic assistance system InnoMotion™ (Synthes Inc., West Chester, USA; formerly InnoMedic GmbH, Herxheim, Germany) offers six degrees of freedom. The developed add-on FUS treatment applicator features a fixed focus ultrasound transducer (f = 1.7 MHz; f' = 68 mm, NA = 0.44, elliptical shaped -6-dB-focus: 8.1 mm length; O/ = 1.1 mm) embedded in a water-filled flexible bellow. A Mylar® foil is used as acoustic window encompassed by a dedicated MRI loop coil. For FUS application, the therapy unit is directly connected to the head of the robotic system, and the treatment region is targeted from above. A newly in-house developed software tool allowed for complete remote control of the MRgFUS-robot system and online analysis of MRI thermometry data. The system's ability for therapeutic relevant focal spot scanning was tested in a closed-bore clinical 1.5 T MR scanner (Magnetom Symphony, Siemens AG, Erlangen, Germany) in animal experiments with pigs. The FUS therapy procedure was performed entirely under MRI guidance including initial therapy planning, online MR-thermometry, and final contrast enhanced imaging for lesion detection. In vivo trials proved the MRgFUS-robot system as highly MR compatible. MR-guided focal spot scanning experiments were performed and a well-defined pattern of thermal tissue lesions was created. A total in vivo positioning accuracy of the US focus better than 2 mm was estimated which is comparable to existing MRgFUS systems. The newly developed FUS-robotic system offers an accurate, highly flexible focus positioning. With its access

  4. Laboratory robotics systems at the Savannah River Laboratory

    International Nuclear Information System (INIS)

    Dyches, G.M.; Burkett, S.D.

    1983-01-01

    Many analytical chemistry methods normally used at the Savannah River site require repetitive procedures and handling of radioactive and other hazardous solutions. Robotics is being investigated as a method of reducing personnel fatigue and radiation exposure and also increasing product quality. Several applications of various commercially available robot systems are discussed involving cold (nonradioactive) and hot (radioactive) sample preparations and glovebox waste removal. Problems encountered in robot programming, parts fixturing, design of special robot hands and other support equipment, glovebox operation, and operator-system interaction are discussed. A typical robot system cost analysis for one application is given

  5. Radioactivity, radiation protection and monitoring during dismantling of light-water reactors

    International Nuclear Information System (INIS)

    Hummel, L.; Zech, J.B.

    2005-01-01

    Based on the radioactivity inventory in the systems and components of light-water reactors observed during operation, the impact of actions during plant emptying after the conclusion of power operation and possible subsequent long-term safe enclosure concerning the composition of the nuclide inventory of the plant to be dismantled will be described. Derived from this will be the effects on radioactivity monitoring in the plant, physical radiation protection monitoring, and the measured characterization of the residual materials resulting from the dismantling. The impact of long-term interim storage will also be addressed in the discussion. The talk should provide an overview of the interrelationships between source terms, decay times and the radioactivity monitoring requirements of the various dismantling concepts for commercial light-water reactors. (orig.)

  6. Robots testing robots: ALAN-Arm, a humanoid arm for the testing of robotic rehabilitation systems.

    Science.gov (United States)

    Brookes, Jack; Kuznecovs, Maksims; Kanakis, Menelaos; Grigals, Arturs; Narvidas, Mazvydas; Gallagher, Justin; Levesley, Martin

    2017-07-01

    Robotics is increasing in popularity as a method of providing rich, personalized and cost-effective physiotherapy to individuals with some degree of upper limb paralysis, such as those who have suffered a stroke. These robotic rehabilitation systems are often high powered, and exoskeletal systems can attach to the person in a restrictive manner. Therefore, ensuring the mechanical safety of these devices before they come in contact with individuals is a priority. Additionally, rehabilitation systems may use novel sensor systems to measure current arm position. Used to capture and assess patient movements, these first need to be verified for accuracy by an external system. We present the ALAN-Arm, a humanoid robotic arm designed to be used for both accuracy benchmarking and safety testing of robotic rehabilitation systems. The system can be attached to a rehabilitation device and then replay generated or human movement trajectories, as well as autonomously play rehabilitation games or activities. Tests of the ALAN-Arm indicated it could recreate the path of a generated slow movement path with a maximum error of 14.2mm (mean = 5.8mm) and perform cyclic movements up to 0.6Hz with low gain (<1.5dB). Replaying human data trajectories showed the ability to largely preserve human movement characteristics with slightly higher path length and lower normalised jerk.

  7. The good wealth of dismantlement

    International Nuclear Information System (INIS)

    Maincent, G.

    2009-01-01

    Civil engineering, mechanical and waste conditioning companies are working hard on the market of nuclear facilities dismantling. This market has a great future ahead of it in the ten years to come. According to the European Commission, 50 to 60 reactors among the 157 actually in service in the European Union should be dismantled by 2025. The cost per reactor is estimated to 10-15% of the initial investment, which represents an enormous amount of money, estimated to 20-39 billion euros for the only French nuclear park. In France, this market is shared by a core of about 20 companies, like Spie Nucleaire, Onet, Vinci (Nuvia) and Areva. Some dismantling sites require a specific skill, in particular those in relation with the research activity of the CEA (the French atomic energy commission) or involving specific technologies (research reactors, spent fuel reprocessing plants, sodium-cooled rectors..). (J.S.)

  8. EL-3 dismantling of an experimental reactor

    International Nuclear Information System (INIS)

    1989-01-01

    The EL3 experimental reactor has been definitively stopped in march 1979. Its decommissioning has been pronounced in the end of 1982. This article is consecrated at decontamination and dismantling works necessited by its passage at the dismantling level 2 [fr

  9. Dismantling and waste managing benefit from digital technologies

    International Nuclear Information System (INIS)

    Moitrier, C.

    2017-01-01

    Dismantling is a very important challenge for nuclear industry as its success will prove the ability of the industry to deal with all the stages of a nuclear power plant from design to the end. A dismantling project is constraint by costs, time, feasibility, safety and environment protection and all of this implies a perfect knowledge of both the initial state of the facility at the beginning of the dismantling and the supply chain to avoid delays and extra-costs. Digital tools have a very important role to play as a provider of a 3-dimensional digital twin of the facility. This digital model allows: a remote preparation of the dismantling actions, to assess and optimize the radiation exposure during the intervention, to simulate various scenarios and select the most adequate, to ease collaborative work between various teams, to assess the volume and kind of waste at a very early stage of the dismantling, and to train operators and workers for x. (A.C.)

  10. Calibration of robotic drilling systems with a moving rail

    Directory of Open Access Journals (Sweden)

    Tian Wei

    2014-12-01

    Full Text Available Industrial robots are widely used in aircraft assembly systems such as robotic drilling systems. It is necessary to expand a robot’s working range with a moving rail. A method for improving the position accuracy of an automated assembly system with an industrial robot mounted on a moving rail is proposed. A multi-station method is used to control the robot in this study. The robot only works at stations which are certain positions defined on the moving rail. The calibration of the robot system is composed by the calibration of the robot and the calibration of the stations. The calibration of the robot is based on error similarity and inverse distance weighted interpolation. The calibration of the stations is based on a magnetic strip and a magnetic sensor. Validation tests were performed in this study, which showed that the accuracy of the robot system gained significant improvement using the proposed method. The absolute position errors were reduced by about 85% to less than 0.3 mm compared with the maximum nearly 2 mm before calibration.

  11. RoboSmith: Wireless Networked Architecture for Multiagent Robotic System

    Directory of Open Access Journals (Sweden)

    Florin Moldoveanu

    2010-11-01

    Full Text Available In this paper is presented an architecture for a flexible mini robot for a multiagent robotic system. In a multiagent system the value of an individual agent is negligible since the goal of the system is essential. Thus, the agents (robots need to be small, low cost and cooperative. RoboSmith are designed based on these conditions. The proposed architecture divide a robot into functional modules such as locomotion, control, sensors, communication, and actuation. Any mobile robot can be constructed by combining these functional modules for a specific application. An embedded software with dynamic task uploading and multi-tasking abilities is developed in order to create better interface between robots and the command center and among the robots. The dynamic task uploading allows the robots change their behaviors in runtime. The flexibility of the robots is given by facts that the robots can work in multiagent system, as master-slave, or hybrid mode, can be equipped with different modules and possibly be used in other applications such as mobile sensor networks remote sensing, and plant monitoring.

  12. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok

    2013-01-01

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  13. A New Cancer Radiotherapy System Using Multi Robotic Manipulators

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Lee, Nam Ho; Lee, Byung Chul; Jeung, Kyung Min; Lee, Seong Uk; Bae, Yeong Geol; Na, Hyun Seok [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2013-10-15

    The CyberKnife system is state-of-the-art cancer treatment equipment that combines an image tracking technique, artificial intelligence software, robot technology, accelerator technology, and treatment simulation technology. The current CyberKnife System has significant shortcomings. The biggest problem is that it takes a longer time to treat a tumor. A long treatment time gives stress to patients. Furthermore it makes the patients uncomfortable with radiation and thus it is difficult to measure the exact radiation dose rate to the tumor in the processing. Linear accelerators for radiation treatment are dependent on imports, and demand high maintenance cost. This also makes the treatment cost higher and prevents the popularization of radiation. To solve the disadvantages of the existing CyberKnife, a radiation treatment robot system applied to several articulated robots is suggested. Essential element techniques for new radiotherapy robot system are investigated and some problems of similar existing systems are analyzed. This paper presents a general configuration of a new radiation robot treatment system including with a quantitative goal of the requirement techniques. This paper described a new radiotherapy robot system to track the tumor using multiple articulated robots in real time. The existing CyberKnife system using a single robot arm has disadvantages of a long radiotherapy time, high medical fee, and inaccurate measurement of the radiotherapy dose. So a new radiotherapy robot system for tumors has been proposed to solve the above problems of conventional CyberKnife systems. Necessary technologies to configure new the radiotherapy robot system have been identified. Quantitative targets of each technology have been established. Multiple robot arms are adopted to decrease the radiotherapy time. The results of this research are provided as a requisite technology for a domestic radiotherapy system and are expected to be the foundation of new technology. The

  14. Long range manipulator development and experiments with dismantling tools

    International Nuclear Information System (INIS)

    Mueller, K.

    1993-01-01

    An existing handling system (EMIR) was used as a carrier system for various tools for concrete dismantling and radiation protection monitoring. It combined the advantages of long reach and high payload with highly dexterous kinematics. This system was enhanced mechanically to allow the use of different tools. Tool attachment devices for automatic tool exchange were investigated as well as interfaces (electric, hydraulic, compressed air, cooling water and signals). The control system was improved with regard to accuracy and sensor data processing. Programmable logic controller functions for tool control were incorporated. A free field mockup of the EMIR was build that allowed close simulation of dismantling scenarios without radioactive inventory. Aged concrete was provided for the integration tests. The development scheduled included the basic concept investigation; the development of tools and sensors; the EMIR hardware enhancement including a tool exchange; the adaption of tools and mockup and the final evaluation of the system during experiments

  15. Task oriented evaluation system for maintenance robots

    International Nuclear Information System (INIS)

    Asame, Hajime; Endo, Isao; Kotosaka, Shin-ya; Takata, Shozo; Hiraoka, Hiroyuki; Kohda, Takehisa; Matsumoto, Akihiro; Yamagishi, Kiichiro.

    1994-01-01

    The adaptability evaluation of maintenance robots to autonomous plants has been discussed. In this paper, a new concept of autonomous plant with maintenance robots are introduced, and a framework of autonomous maintenance system is proposed. Then, task-oriented evaluation of robot arms is discussed for evaluating their adaptability to maintenance tasks, and a new criterion called operability is proposed for adaptability evaluation. The task-oriented evaluation system is implemented and applied to structural design of robot arms. Using genetic algorithm, an optimal structure adaptable to a pump disassembly task is obtained. (author)

  16. A flexible, computer-integrated robotic transfer system

    International Nuclear Information System (INIS)

    Lewis, W.I. III; Taylor, R.M.

    1987-01-01

    This paper reviews a robotic system used to transport materials across a radiation control zone and into a row of shielded cells. The robot used is a five-axis GCA 600 industrial robot mounted on a 50-ft ESAB welding track. Custom software incorporates the track as the sixth axis of motion. An IBM-PC integrates robot control, force sensing, and the operator interface. Multiple end-effectors and a quick exchange mechanism are used to handle a variety of materials and tasks. Automatic error detection and recovery is a key aspect of this system

  17. Dismantling of Vandellos I

    International Nuclear Information System (INIS)

    Armada, J. R.

    2003-01-01

    Spain is witnessing the phase-out of a nuclear power plant. It is a unique experience in our country and therefore the dismantling work has been watched closely, not only from here but also from abroad. The Empresa Nacional de Residuos Radiactivos (ENRESA) is in charge of managing the dismantling and decommissioning work of the Vandellos-I nuclear power plant, located in the municipality of L'Hospitalet de l'Infant (Tarragona). the work began five years ago and has been executed on schedule. the appearance of what was one of the first Spanish commercial nuclear power plants has been changed radically to leave premises suitable for any other activity. (Author)

  18. A System for Complex Robotic Welding

    DEFF Research Database (Denmark)

    Madsen, Ole; Sørensen, Carsten Bro; Olsen, Birger

    2002-01-01

    This paper presents the architecture of a system for robotic welding of complex tasks. The system integrates off-line programming, control of redundant robots, collision-free motion planning and sensor-based control. An implementation for pipe structure welding made at Odense Steel Shipyard Ltd......., Denmark, demonstrates the system can be used for automatic welding of complex products in one-of-a-kind production....

  19. Intelligent monitoring-based safety system of massage robot

    Institute of Scientific and Technical Information of China (English)

    胡宁; 李长胜; 王利峰; 胡磊; 徐晓军; 邹雲鹏; 胡玥; 沈晨

    2016-01-01

    As an important attribute of robots, safety is involved in each link of the full life cycle of robots, including the design, manufacturing, operation and maintenance. The present study on robot safety is a systematic project. Traditionally, robot safety is defined as follows: robots should not collide with humans, or robots should not harm humans when they collide. Based on this definition of robot safety, researchers have proposed ex ante and ex post safety standards and safety strategies and used the risk index and risk level as the evaluation indexes for safety methods. A massage robot realizes its massage therapy function through applying a rhythmic force on the massage object. Therefore, the traditional definition of safety, safety strategies, and safety realization methods cannot satisfy the function and safety requirements of massage robots. Based on the descriptions of the environment of massage robots and the tasks of massage robots, the present study analyzes the safety requirements of massage robots; analyzes the potential safety dangers of massage robots using the fault tree tool; proposes an error monitoring-based intelligent safety system for massage robots through monitoring and evaluating potential safety danger states, as well as decision making based on potential safety danger states; and verifies the feasibility of the intelligent safety system through an experiment.

  20. STMI: several years of experience in nuclear plant dismantling

    International Nuclear Information System (INIS)

    Moreau, J.C.

    1985-01-01

    Since 1977, when STMI performed its first dismantling operation, the Company appreciably improved in that field through important operations: the dismantling of the calciothermy and fluoration metal Pu preparation facility, in La Hague reprocessing plant; the dismantling of the slag treatment chain, associated to calciothermy and fluoration processes, in La Hague reprocessing plant; and the cleaning of EL4 cell in Marcoule. To perform these operations, STMI's operating teams, on top of decontamination and dismantling technologies, strived to improve handling and transportation technologies, and to nuclearize many equipments. In order to increase its technical efficiency, STMI signed a cooperation agreement with FRAMATOME company. Therefore, the union between the operational know-hows of STMI and the design experience of TECHNICATOME allow the needs of any customs facing a dismantling case to be satisfied [fr

  1. Cask system design guidance for robotic handling

    International Nuclear Information System (INIS)

    Griesmeyer, J.M.; Drotning, W.D.; Morimoto, A.K.; Bennett, P.C.

    1990-10-01

    Remote automated cask handling has the potential to reduce both the occupational exposure and the time required to process a nuclear waste transport cask at a handling facility. The ongoing Advanced Handling Technologies Project (AHTP) at Sandia National Laboratories is described. AHTP was initiated to explore the use of advanced robotic systems to perform cask handling operations at handling facilities for radioactive waste, and to provide guidance to cask designers regarding the impact of robotic handling on cask design. The proof-of-concept robotic systems developed in AHTP are intended to extrapolate from currently available commercial systems to the systems that will be available by the time that a repository would be open for operation. The project investigates those cask handling operations that would be performed at a nuclear waste repository facility during cask receiving and handling. The ongoing AHTP indicates that design guidance, rather than design specification, is appropriate, since the requirements for robotic handling do not place severe restrictions on cask design but rather focus on attention to detail and design for limited dexterity. The cask system design features that facilitate robotic handling operations are discussed, and results obtained from AHTP design and operation experience are summarized. The application of these design considerations is illustrated by discussion of the robot systems and their operation on cask feature mock-ups used in the AHTP project. 11 refs., 11 figs

  2. A Motion System for Social and Animated Robots

    Directory of Open Access Journals (Sweden)

    Jelle Saldien

    2014-05-01

    Full Text Available This paper presents an innovative motion system that is used to control the motions and animations of a social robot. The social robot Probo is used to study Human-Robot Interactions (HRI, with a special focus on Robot Assisted Therapy (RAT. When used for therapy it is important that a social robot is able to create an “illusion of life” so as to become a believable character that can communicate with humans. The design of the motion system in this paper is based on insights from the animation industry. It combines operator-controlled animations with low-level autonomous reactions such as attention and emotional state. The motion system has a Combination Engine, which combines motion commands that are triggered by a human operator with motions that originate from different units of the cognitive control architecture of the robot. This results in an interactive robot that seems alive and has a certain degree of “likeability”. The Godspeed Questionnaire Series is used to evaluate the animacy and likeability of the robot in China, Romania and Belgium.

  3. Development of haptic system for surgical robot

    Science.gov (United States)

    Gang, Han Gyeol; Park, Jiong Min; Choi, Seung-Bok; Sohn, Jung Woo

    2017-04-01

    In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.

  4. A robotic vision system to measure tree traits

    Science.gov (United States)

    The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic vision system called the Robotic System for Tree Shape Estimati...

  5. Neurosurgical robotic arm drilling navigation system.

    Science.gov (United States)

    Lin, Chung-Chih; Lin, Hsin-Cheng; Lee, Wen-Yo; Lee, Shih-Tseng; Wu, Chieh-Tsai

    2017-09-01

    The aim of this work was to develop a neurosurgical robotic arm drilling navigation system that provides assistance throughout the complete bone drilling process. The system comprised neurosurgical robotic arm navigation combining robotic and surgical navigation, 3D medical imaging based surgical planning that could identify lesion location and plan the surgical path on 3D images, and automatic bone drilling control that would stop drilling when the bone was to be drilled-through. Three kinds of experiment were designed. The average positioning error deduced from 3D images of the robotic arm was 0.502 ± 0.069 mm. The correlation between automatically and manually planned paths was 0.975. The average distance error between automatically planned paths and risky zones was 0.279 ± 0.401 mm. The drilling auto-stopping algorithm had 0.00% unstopped cases (26.32% in control group 1) and 70.53% non-drilled-through cases (8.42% and 4.21% in control groups 1 and 2). The system may be useful for neurosurgical robotic arm drilling navigation. Copyright © 2016 John Wiley & Sons, Ltd.

  6. Artificial intelligence in robot control systems

    Science.gov (United States)

    Korikov, A.

    2018-05-01

    This paper analyzes modern concepts of artificial intelligence and known definitions of the term "level of intelligence". In robotics artificial intelligence system is defined as a system that works intelligently and optimally. The author proposes to use optimization methods for the design of intelligent robot control systems. The article provides the formalization of problems of robotic control system design, as a class of extremum problems with constraints. Solving these problems is rather complicated due to the high dimensionality, polymodality and a priori uncertainty. Decomposition of the extremum problems according to the method, suggested by the author, allows reducing them into a sequence of simpler problems, that can be successfully solved by modern computing technology. Several possible approaches to solving such problems are considered in the article.

  7. Engineering activities for the preparation of systems and facilities in the dismantling of Jose Cabrera NPP

    International Nuclear Information System (INIS)

    Gomez Rodriguez, C. A.; Martin Palomo, N.

    2012-01-01

    This paper presents the previous work of analysis of management systems and facilities, modifications to systems plans and the final implementation carried out on the site. The final result of the development of these plans, obtained after two years of intense work and in particular the result of the evolution of the turbine (now EAD) building, converted into the central infrastructure for the dismantling of the rest of the installation plans will be presented.

  8. The Japan Power Demonstration Reactor (JPDR) dismantling activities. Dismantling of the reactor enclosure and the auxiliary buildings

    International Nuclear Information System (INIS)

    Seiki, Yoshihiro; Kubo, Takashi.

    1996-01-01

    As the final stage of the JPDR decommissioning program, after the major components were removed from each building of JPDR, the dismantling activities proceeded to the decontamination of contaminated concrete surface and the final radiation survey of buildings. These activities were conducted to verify the developed techniques and the detailed procedures for decontamination, and to allow unrestricted use of the JPDR buildings. Following the decontamination of buildings, the dismantling of each building was started. Before dismantling the buildings, the radiation control designations were changed. The buildings that contaminated embedded pipes were changed from first-class radiation controlled areas to second-class radiation controlled areas. On the other hand, the buildings that had no contaminated pipes were changed to uncontrolled areas. A first-class radiation controlled area allows the use of unsealed sources ; thus, radioactive contamination may exist. A second-class radiation controlled area is one where only sealed sources are allowed. Significant quantities of data and experience were obtained during these activities. The practical procedures for decontamination, the final survey of radioactivity, and the dismantling work of buildings were described in this report. (author)

  9. Robot for Investigations and Assessments of Nuclear Areas

    Energy Technology Data Exchange (ETDEWEB)

    Kanaan, Daniel; Dogny, Stephane [AREVA D and S/DT, 30206 Bagnols sur Ceze (France)

    2015-07-01

    RIANA is a remote controlled Robot dedicated for Investigations and Assessments of Nuclear Areas. The development of RIANA is motivated by the need to have at disposal a proven robot, tested in hot cells; a robot capable of remotely investigate and characterise the inside of nuclear facilities in order to collect efficiently all the required data in the shortest possible time. It is based on a wireless medium sized remote carrier that may carry a wide variety of interchangeable modules, sensors and tools. It is easily customised to match specific requirements and quickly configured depending on the mission and the operator's preferences. RIANA integrates localisation and navigation systems. The robot will be able to generate / update a 2D map of its surrounding and exploring areas. The position of the robot is given accurately on the map. Furthermore, the robot will be able to autonomously calculate, define and follow a trajectory between 2 points taking into account its environment and obstacles. The robot is configurable to manage obstacles and restrict access to forbidden areas. RIANA allows an advanced control of modules, sensors and tools; all collected data (radiological and measured data) are displayed in real time in different format (chart, on the generated map...) and stored in a single place so that may be exported in a convenient format for data processing. This modular design gives RIANA the flexibility to perform multiple investigation missions where humans cannot work such as: visual inspections, dynamic localization and 2D mapping, characterizations and nuclear measurements of floor and walls, non destructive testing, samples collection: solid and liquid. The benefits of using RIANA are: - reducing the personnel exposures by limiting the manual intervention time, - minimizing the time and reducing the cost of investigation operations, - providing critical inputs to set up and optimize cleanup and dismantling operations. (authors)

  10. Robot for Investigations and Assessments of Nuclear Areas

    International Nuclear Information System (INIS)

    Kanaan, Daniel; Dogny, Stephane

    2015-01-01

    RIANA is a remote controlled Robot dedicated for Investigations and Assessments of Nuclear Areas. The development of RIANA is motivated by the need to have at disposal a proven robot, tested in hot cells; a robot capable of remotely investigate and characterise the inside of nuclear facilities in order to collect efficiently all the required data in the shortest possible time. It is based on a wireless medium sized remote carrier that may carry a wide variety of interchangeable modules, sensors and tools. It is easily customised to match specific requirements and quickly configured depending on the mission and the operator's preferences. RIANA integrates localisation and navigation systems. The robot will be able to generate / update a 2D map of its surrounding and exploring areas. The position of the robot is given accurately on the map. Furthermore, the robot will be able to autonomously calculate, define and follow a trajectory between 2 points taking into account its environment and obstacles. The robot is configurable to manage obstacles and restrict access to forbidden areas. RIANA allows an advanced control of modules, sensors and tools; all collected data (radiological and measured data) are displayed in real time in different format (chart, on the generated map...) and stored in a single place so that may be exported in a convenient format for data processing. This modular design gives RIANA the flexibility to perform multiple investigation missions where humans cannot work such as: visual inspections, dynamic localization and 2D mapping, characterizations and nuclear measurements of floor and walls, non destructive testing, samples collection: solid and liquid. The benefits of using RIANA are: - reducing the personnel exposures by limiting the manual intervention time, - minimizing the time and reducing the cost of investigation operations, - providing critical inputs to set up and optimize cleanup and dismantling operations. (authors)

  11. Robot Skills for Transformable Manufacturing Systems

    DEFF Research Database (Denmark)

    Pedersen, Mikkel Rath

    Efficient, transformable production systems need robots that are flexible and effortlessly repurposed or reconfigured. The present dissertation argues that this can be achieved through the implementation and use of general, object-centered robot skills. In this dissertation, we focus on the design...... autonomously, exactly when it is needed. It is the firm belief of this researcher that industrial robotics need to go in a direction towards what is outlined in this dissertation, both in academia and in the industry. In order for manufacturing companies to remain competitive, robotics is the definite way...

  12. Human Robotic Systems (HRS): Robotic ISRU Acquisition Element

    Data.gov (United States)

    National Aeronautics and Space Administration — During 2014, the Robotic ISRU Resource Acquisition project element will develop two technologies:Exploration Ground Data Systems (xGDS)Sample Acquisition on...

  13. Automatic Battery Swap System for Home Robots

    Directory of Open Access Journals (Sweden)

    Juan Wu

    2012-12-01

    Full Text Available This paper presents the design and implementation of an automatic battery swap system for the prolonged activities of home robots. A battery swap station is proposed to implement battery off-line recharging and on-line exchanging functions. It consists of a loading and unloading mechanism, a shifting mechanism, a locking device and a shell. The home robot is a palm-sized wheeled robot with an onboard camera and a removable battery case in the front. It communicates with the battery swap station wirelessly through ZigBee. The influences of battery case deflection and robot docking deflection on the battery swap operations have been investigated. The experimental results show that it takes an average time of 84.2s to complete the battery swap operations. The home robot does not have to wait several hours for the batteries to be fully charged. The proposed battery swap system is proved to be efficient in home robot applications that need the robots to work continuously over a long period.

  14. Development of a remote tank inspection robotic system

    International Nuclear Information System (INIS)

    Knape, B.P.; Bares, L.C.

    1990-01-01

    RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation

  15. Using insects to drive mobile robots - hybrid robots bridge the gap between biological and artificial systems.

    Science.gov (United States)

    Ando, Noriyasu; Kanzaki, Ryohei

    2017-09-01

    The use of mobile robots is an effective method of validating sensory-motor models of animals in a real environment. The well-identified insect sensory-motor systems have been the major targets for modeling. Furthermore, mobile robots implemented with such insect models attract engineers who aim to avail advantages from organisms. However, directly comparing the robots with real insects is still difficult, even if we successfully model the biological systems, because of the physical differences between them. We developed a hybrid robot to bridge the gap. This hybrid robot is an insect-controlled robot, in which a tethered male silkmoth (Bombyx mori) drives the robot in order to localize an odor source. This robot has the following three advantages: 1) from a biomimetic perspective, the robot enables us to evaluate the potential performance of future insect-mimetic robots; 2) from a biological perspective, the robot enables us to manipulate the closed-loop of an onboard insect for further understanding of its sensory-motor system; and 3) the robot enables comparison with insect models as a reference biological system. In this paper, we review the recent works regarding insect-controlled robots and discuss the significance for both engineering and biology. Copyright © 2017 Elsevier Ltd. All rights reserved.

  16. An automated miniature robotic vehicle inspection system

    Energy Technology Data Exchange (ETDEWEB)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  17. An automated miniature robotic vehicle inspection system

    International Nuclear Information System (INIS)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-01-01

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software

  18. Intelligent manipulation technique for multi-branch robotic systems

    Science.gov (United States)

    Chen, Alexander Y. K.; Chen, Eugene Y. S.

    1990-01-01

    New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system.

  19. Informed Design to Robotic Production Systems; Developing Robotic 3D Printing System for Informed Material Deposition

    NARCIS (Netherlands)

    Mostafavi, S.; Bier, H.; Bodea, S.; Anton, A.M.

    2015-01-01

    This paper discusses the development of an informed Design-to-Robotic-Production (D2RP) system for additive manufacturing to achieve performative porosity in architecture at various scales. An extended series of experiments on materiality, fabrication and robotics were designed and carried out

  20. Augmented Robotics Dialog System for Enhancing Human–Robot Interaction

    Science.gov (United States)

    Alonso-Martín, Fernando; Castro-González, Aívaro; de Gorostiza Luengo, Francisco Javier Fernandez; Salichs, Miguel Ángel

    2015-01-01

    Augmented reality, augmented television and second screen are cutting edge technologies that provide end users extra and enhanced information related to certain events in real time. This enriched information helps users better understand such events, at the same time providing a more satisfactory experience. In the present paper, we apply this main idea to human–robot interaction (HRI), to how users and robots interchange information. The ultimate goal of this paper is to improve the quality of HRI, developing a new dialog manager system that incorporates enriched information from the semantic web. This work presents the augmented robotic dialog system (ARDS), which uses natural language understanding mechanisms to provide two features: (i) a non-grammar multimodal input (verbal and/or written) text; and (ii) a contextualization of the information conveyed in the interaction. This contextualization is achieved by information enrichment techniques that link the extracted information from the dialog with extra information about the world available in semantic knowledge bases. This enriched or contextualized information (information enrichment, semantic enhancement or contextualized information are used interchangeably in the rest of this paper) offers many possibilities in terms of HRI. For instance, it can enhance the robot's pro-activeness during a human–robot dialog (the enriched information can be used to propose new topics during the dialog, while ensuring a coherent interaction). Another possibility is to display additional multimedia content related to the enriched information on a visual device. This paper describes the ARDS and shows a proof of concept of its applications. PMID:26151202

  1. Smart mobile robot system for rubbish collection

    Science.gov (United States)

    Ali, Mohammed A. H.; Sien Siang, Tan

    2018-03-01

    This paper records the research and procedures of developing a smart mobility robot with detection system to collect rubbish. The objective of this paper is to design a mobile robot that can detect and recognize medium-size rubbish such as drinking cans. Besides that, the objective is also to design a mobile robot with the ability to estimate the position of rubbish from the robot. In addition, the mobile robot is also able to approach the rubbish based on position of rubbish. This paper explained about the types of image processing, detection and recognition methods and image filters. This project implements RGB subtraction method as the prior system. Other than that, algorithm for distance measurement based on image plane is implemented in this project. This project is limited to use computer webcam as the sensor. Secondly, the robot is only able to approach the nearest rubbish in the same views of camera vision and any rubbish that contain RGB colour components on its body.

  2. A Fully Sensorized Cooperative Robotic System for Surgical Interventions

    Science.gov (United States)

    Tovar-Arriaga, Saúl; Vargas, José Emilio; Ramos, Juan M.; Aceves, Marco A.; Gorrostieta, Efren; Kalender, Willi A.

    2012-01-01

    In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements. PMID:23012551

  3. Decommissioning of the AVR reactor, concept for the total dismantling

    International Nuclear Information System (INIS)

    Marnet, C.; Wimmers, M.; Birkhold, U.

    1998-01-01

    After more than 21 years of operation, the 15 MWe AVR experimental nuclear power plant with pebble bed high temperature gas-cooled reactor was shout down in 1988. Safestore decommissioning began in 1994. In order to completely dismantle the plant, a concept for Continued dismantling was developed according to which the plant could be dismantled in a step-wise procedure. After each step, there is the possibility to transform the plant into a new state of safe enclosure. The continued dismantling comprises three further steps following Safestore decommissioning: 1. Dismantling the reactor vessels with internals; 2. Dismantling the containment and the auxiliary units; 3. Gauging the buildings to radiation limit, release from the validity range of the AtG (Nuclear Act), and demolition of the buildings. For these steps, various technical procedures and concepts were developed, resulting in a reference concept in which the containment will essentially remain intact (in-situ concept). Over the top of the outer reactor vessel a disassembling area for remotely controlled tools will be erected that tightens on that vessel and can move down on the vessel according to the dismantling progress. (author)

  4. Dismantlement and Radioactive Waste Management of DPRK Nuclear Facilities

    Energy Technology Data Exchange (ETDEWEB)

    Jooho, W.; Baldwin, G. T.

    2005-04-01

    One critical aspect of any denuclearization of the Democratic People’s Republic of Korea (DPRK) involves dismantlement of its nuclear facilities and management of their associated radioactive wastes. The decommissioning problem for its two principal operational plutonium facilities at Yongbyun, the 5MWe nuclear reactor and the Radiochemical Laboratory reprocessing facility, alone present a formidable challenge. Dismantling those facilities will create radioactive waste in addition to existing inventories of spent fuel and reprocessing wastes. Negotiations with the DPRK, such as the Six Party Talks, need to appreciate the enormous scale of the radioactive waste management problem resulting from dismantlement. The two operating plutonium facilities, along with their legacy wastes, will result in anywhere from 50 to 100 metric tons of uranium spent fuel, as much as 500,000 liters of liquid high-level waste, as well as miscellaneous high-level waste sources from the Radiochemical Laboratory. A substantial quantity of intermediate-level waste will result from disposing 600 metric tons of graphite from the reactor, an undetermined quantity of chemical decladding liquid waste from reprocessing, and hundreds of tons of contaminated concrete and metal from facility dismantlement. Various facilities for dismantlement, decontamination, waste treatment and packaging, and storage will be needed. The shipment of spent fuel and liquid high level waste out of the DPRK is also likely to be required. Nuclear facility dismantlement and radioactive waste management in the DPRK are all the more difficult because of nuclear nonproliferation constraints, including the call by the United States for “complete, verifiable and irreversible dismantlement,” or “CVID.” It is desirable to accomplish dismantlement quickly, but many aspects of the radioactive waste management cannot be achieved without careful assessment, planning and preparation, sustained commitment, and long

  5. Dismantlement and Radioactive Waste Management of DPRK Nuclear Facilities

    International Nuclear Information System (INIS)

    Jooho, W.; Baldwin, G.T.

    2005-01-01

    One critical aspect of any denuclearization of the Democratic People's Republic of Korea (DPRK) involves dismantlement of its nuclear facilities and management of their associated radioactive wastes. The decommissioning problem for its two principal operational plutonium facilities at Yongbyun, the 5MWe nuclear reactor and the Radiochemical Laboratory reprocessing facility, alone present a formidable challenge. Dismantling those facilities will create radioactive waste in addition to existing inventories of spent fuel and reprocessing wastes. Negotiations with the DPRK, such as the Six Party Talks, need to appreciate the enormous scale of the radioactive waste management problem resulting from dismantlement. The two operating plutonium facilities, along with their legacy wastes, will result in anywhere from 50 to 100 metric tons of uranium spent fuel, as much as 500,000 liters of liquid high-level waste, as well as miscellaneous high-level waste sources from the Radiochemical Laboratory. A substantial quantity of intermediate-level waste will result from disposing 600 metric tons of graphite from the reactor, an undetermined quantity of chemical decladding liquid waste from reprocessing, and hundreds of tons of contaminated concrete and metal from facility dismantlement. Various facilities for dismantlement, decontamination, waste treatment and packaging, and storage will be needed. The shipment of spent fuel and liquid high level waste out of the DPRK is also likely to be required. Nuclear facility dismantlement and radioactive waste management in the DPRK are all the more difficult because of nuclear nonproliferation constraints, including the call by the United States for 'complete, verifiable and irreversible dismantlement,' or 'CVID.' It is desirable to accomplish dismantlement quickly, but many aspects of the radioactive waste management cannot be achieved without careful assessment, planning and preparation, sustained commitment, and long completion times

  6. Method and apparatus for dismantling mechanical anchors

    Energy Technology Data Exchange (ETDEWEB)

    Dubovskiy, Yu P; Chendev, F S; Gritsayuk, B I; Gubin, N I; Osipov, S P

    1982-01-01

    This apparatus is designed to reduce the amount of labor required to dismantle mechanical anchors while at the same time lowering expenditures for lumber. Longwall beams and timber skips are used to support the cap and any fractured rock faces. The apparatus itself has grooves, vertical guides, and a drive system to position the longwall beams.

  7. 11th International Symposium on Distributed Autonomous Robotic Systems

    CERN Document Server

    Chirikjian, Gregory

    2014-01-01

    Distributed robotics is a rapidly growing and maturing interdisciplinary research area lying at the intersection of computer science, network science, control theory, and electrical and mechanical engineering. The goal of the Symposium on Distributed Autonomous Robotic Systems (DARS) is to exchange and stimulate research ideas to realize advanced distributed robotic systems. This volume of proceedings includes 31 original contributions presented at the 2012 International Symposium on Distributed Autonomous Robotic Systems (DARS 2012) held in November 2012 at the Johns Hopkins University in Baltimore, MD USA. The selected papers in this volume are authored by leading researchers from Asia, Europa, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. The book is organized into five parts, representative of critical long-term and emerging research thrusts in the multi-robot com...

  8. Advanced robot vision system for nuclear power plants

    International Nuclear Information System (INIS)

    Onoguchi, Kazunori; Kawamura, Atsuro; Nakayama, Ryoichi.

    1991-01-01

    We have developed a robot vision system for advanced robots used in nuclear power plants, under a contract with the Agency of Industrial Science and Technology of the Ministry of International Trade and Industry. This work is part of the large-scale 'advanced robot technology' project. The robot vision system consists of self-location measurement, obstacle detection, and object recognition subsystems, which are activated by a total control subsystem. This paper presents details of these subsystems and the experimental results obtained. (author)

  9. A novel teaching system for industrial robots.

    Science.gov (United States)

    Lin, Hsien-I; Lin, Yu-Hsiang

    2014-03-27

    The most important tool for controlling an industrial robotic arm is a teach pendant, which controls the robotic arm movement in work spaces and accomplishes teaching tasks. A good teaching tool should be easy to operate and can complete teaching tasks rapidly and effortlessly. In this study, a new teaching system is proposed for enabling users to operate robotic arms and accomplish teaching tasks easily. The proposed teaching system consists of the teach pen, optical markers on the pen, a motion capture system, and the pen tip estimation algorithm. With the marker positions captured by the motion capture system, the pose of the teach pen is accurately calculated by the pen tip algorithm and used to control the robot tool frame. In addition, Fitts' Law is adopted to verify the usefulness of this new system, and the results show that the system provides high accuracy, excellent operation performance, and a stable error rate. In addition, the system maintains superior performance, even when users work on platforms with different inclination angles.

  10. Development of 6-DOF painting robot control system

    Science.gov (United States)

    Huang, Junbiao; Liu, Jianqun; Gao, Weiqiang

    2017-01-01

    With the development of society, the spraying technology of manufacturing industry in China has changed from the manual operation to the 6-DOF (Degree Of Freedom)robot automatic spraying. Spraying painting robot can not only complete the work which does harm to human being, but also improve the production efficiency and save labor costs. Control system is the most critical part of the 6-DOF robots, however, there is still a lack of relevant technology research in China. It is very necessary to study a kind of control system of 6-DOF spraying painting robots which is easy to operation, and has high efficiency and stable performance. With Googol controller platform, this paper develops programs based on Windows CE embedded systems to control the robot to finish the painting work. Software development is the core of the robot control system, including the direct teaching module, playback module, motion control module, setting module, man-machine interface, alarm module, log module, etc. All the development work of the entire software system has been completed, and it has been verified that the entire software works steady and efficient.

  11. Integrated Robotic Systems for Humanitarian Demining

    OpenAIRE

    Colon, E.; Cubber, G. De; Ping, H.; Habumuremyi, J-C; Sahli, H.; Baudoin, Y.

    2007-01-01

    This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed. Typica...

  12. Dynamic analysis of space robot remote control system

    Science.gov (United States)

    Kulakov, Felix; Alferov, Gennady; Sokolov, Boris; Gorovenko, Polina; Sharlay, Artem

    2018-05-01

    The article presents analysis on construction of two-stage remote control for space robots. This control ensures efficiency of the robot control system at large delays in transmission of control signals from the ground control center to the local control system of the space robot. The conditions for control stability of and high transparency are found.

  13. Functional Modeling for Monitoring of Robotic System

    DEFF Research Database (Denmark)

    Wu, Haiyan; Bateman, Rikke R.; Zhang, Xinxin

    2018-01-01

    With the expansion of robotic applications in the industrial domain, it is important that the robots can execute their tasks in a safe and reliable way. A monitoring system can be implemented to ensure the detection of abnormal situations of the robots and report the abnormality to their human su...

  14. Virtual tutor systems for robot-assisted instruction

    Science.gov (United States)

    Zhao, Zhijing; Zhao, Deyu; Zhang, Zizhen; Wei, Yongji; Qi, Bingchen; Okawa, Yoshikuni

    2004-03-01

    Virtual Reality technology belongs to advanced computer technology, it has been applied in instruction field and gains obvious effect. At the same time, robot assisted instruction comes true with the continuous development of Robot technology and artificial intelligence technology. This paper introduces a virtual tutor system for robot assisted instruction.

  15. Cutting Method of the CAD model of the Nuclear facility for Dismantling Simulation

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Ikjune; Choi, ByungSeon; Hyun, Dongjun; Jeong, KwanSeong; Kim, GeunHo; Lee, Jonghwan [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2015-05-15

    Current methods for process simulation cannot simulate the cutting operation flexibly. As is, to simulate a cutting operation, user needs to prepare the result models of cutting operation based on pre-define cutting path, depth and thickness with respect to a dismantle scenario in advance. And those preparations should be built again as scenario changes. To be, user can change parameters and scenarios dynamically within a simulation configuration process so that the user saves time and efforts to simulate cutting operations. This study presents the methodology of cutting operation which can be applied to all the procedure in the simulation of dismantling of nuclear facilities. We developed the cutting simulation module for cutting operation in the dismantling of the nuclear facilities based on proposed cutting methodology. We defined the requirement of model cutting methodology based on the requirement of the dismantling of nuclear facilities. And we implemented cutting simulation module based on API of the commercial CAD system.

  16. Towards Coordination and Control of Multi-robot Systems

    DEFF Research Database (Denmark)

    Quottrup, Michael Melholt

    This thesis focuses on control and coordination of mobile multi-robot systems (MRS). MRS can often deal with tasks that are difficult to be accomplished by a single robot. One of the challenges is the need to control, coordinate and synchronize the operation of several robots to perform some...... specified task. This calls for new strategies and methods which allow the desired system behavior to be specified in a formal and succinct way. Two different frameworks for the coordination and control of MRS have been investigated. Framework I - A network of robots is modeled as a network of multi...... a requirement specification in Computational Tree Logic (CTL) for a network of robots. The result is a set of motion plans for the robots which satisfy the specification. Framework II - A framework for controller synthesis for a single robot with respect to requirement specification in Linear-time Temporal...

  17. An Intuitive Robot Teleoperation System for Nuclear Power Plant Decommissioning

    International Nuclear Information System (INIS)

    Lee, Chang-hyuk; Gu, Taehyeong; Lee, Kyung-min; Ye, Sung-Joon; Bang, Young-bong

    2017-01-01

    A robot teleoperation system consists of a master device and a slave robot. The master device senses human intention and delivers it to the salve robot. A haptic device and an exoskeletal robot are widely used as the master device. The slave robot carries out operations delivered by the master device. It should guarantee enough degree of freedom (DOF) to perform the instructed operation and mobility in the environment inside the nuclear plant, such as flat surfaces and stairs. A 7-DOF robotic arm is commonly used as the slave device. This paper proposed a robot teleoperation system for nuclear power plant decommissioning. It discussed an experiment that was performed to validate the system's usability. The operator wearing the exoskeletal master device at the master site controlled the slave robot enabling it to move on a flat surface, climb/descend stairs, and move obstacles. The proposed robot teleoperation system can also be used in hazardous working environments where the use of such robots would be beneficial to human health and safety. In the future, research studies on the protection against radiation that damages the slave robot should be conducted.

  18. Dismantling of nuclear facilities

    International Nuclear Information System (INIS)

    Tallec, Michele; Kus, Jean-Pierre; Mogavero, Robert; Genelot, Gabriel

    2009-01-01

    Although the operational life of nuclear plants is long (around 60 years for French reactors) it is nonetheless limited in time, the stopping of it being essentially due to the obsolescence of materials and processes or to economic or safety considerations. The nuclear power plants are then subjected to cleanup and dismantling operations which have different objectives and require specific techniques. The cleanup and/or dismantling of a nuclear power produces significant quantities of waste which is generally of a different nature to that produced during the operation of the concerned plant. The radioactive waste produced by these operations is destined to be sent to the waste disposal facilities of the French National Agency for the Management of Nuclear Waste. (authors)

  19. Robot vision for nuclear advanced robot

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Okano, Hideharu; Kuno, Yoshinori; Miyazawa, Tatsuo; Shimada, Hideo; Okada, Satoshi; Kawamura, Astuo

    1991-01-01

    This paper describes Robot Vision and Operation System for Nuclear Advanced Robot. This Robot Vision consists of robot position detection, obstacle detection and object recognition. With these vision techniques, a mobile robot can make a path and move autonomously along the planned path. The authors implemented the above robot vision system on the 'Advanced Robot for Nuclear Power Plant' and tested in an environment mocked up as nuclear power plant facilities. Since the operation system for this robot consists of operator's console and a large stereo monitor, this system can be easily operated by one person. Experimental tests were made using the Advanced Robot (nuclear robot). Results indicate that the proposed operation system is very useful, and can be operate by only person. (author)

  20. Ubiquitous Robotic Technology for Smart Manufacturing System.

    Science.gov (United States)

    Wang, Wenshan; Zhu, Xiaoxiao; Wang, Liyu; Qiu, Qiang; Cao, Qixin

    2016-01-01

    As the manufacturing tasks become more individualized and more flexible, the machines in smart factory are required to do variable tasks collaboratively without reprogramming. This paper for the first time discusses the similarity between smart manufacturing systems and the ubiquitous robotic systems and makes an effort on deploying ubiquitous robotic technology to the smart factory. Specifically, a component based framework is proposed in order to enable the communication and cooperation of the heterogeneous robotic devices. Further, compared to the service robotic domain, the smart manufacturing systems are often in larger size. So a hierarchical planning method was implemented to improve the planning efficiency. A test bed of smart factory is developed. It demonstrates that the proposed framework is suitable for industrial domain, and the hierarchical planning method is able to solve large problems intractable with flat methods.

  1. Environmental Assessment for decontamination and dismantlement, Pinellas Plant

    International Nuclear Information System (INIS)

    1995-06-01

    The US Department of Energy (DOE) has prepared an Environmental Assessment (EA) (DOE/EA-1092) of the proposed decontamination and dismantlement of the Pinellas Plant in Largo, Florida. Under the Decontamination and Dismantlement EA, the DOE proposes to clean up facilities, structures, and utilities; dismantle specific structures; and mitigate or eliminate any environmental impacts associated with the cleanup, dismantlement, and related activities. Related activities include utilization of specific areas by new tenants prior to full-scale cleanup. Based on the analyses in the EA, the DOE has determined that the proposed action is not a major Federal action significantly affecting the quality of the human environment, within the meaning of the National Environmental Policy Act of 1969. Therefore, the preparation of an environmental impact statement is not required. This report contains the Environmental Assessment, as well as the Finding of No Significant Impact (FONSI)

  2. Biological Immune System Applications on Mobile Robot for Disabled People

    Directory of Open Access Journals (Sweden)

    Songmin Jia

    2014-01-01

    Full Text Available To improve the service quality of service robots for the disabled, immune system is applied on robot for its advantages such as diversity, dynamic, parallel management, self-organization, and self-adaptation. According to the immune system theory, local environment condition sensed by robot is considered an antigen while robot is regarded as B-cell and possible node as antibody, respectively. Antibody-antigen affinity is employed to choose the optimal possible node to ensure the service robot can pass through the optimal path. The paper details the immune system applications on service robot and gives experimental results.

  3. A bio-inspired electrocommunication system for small underwater robots.

    Science.gov (United States)

    Wang, Wei; Liu, Jindong; Xie, Guangming; Wen, Li; Zhang, Jianwei

    2017-03-29

    Weakly electric fishes (Gymnotid and Mormyrid) use an electric field to communicate efficiently (termed electrocommunication) in the turbid waters of confined spaces where other communication modalities fail. Inspired by this biological phenomenon, we design an artificial electrocommunication system for small underwater robots and explore the capabilities of such an underwater robotic communication system. An analytical model for electrocommunication is derived to predict the effect of the key parameters such as electrode distance and emitter current of the system on the communication performance. According to this model, a low-dissipation, and small-sized electrocommunication system is proposed and integrated into a small robotic fish. We characterize the communication performance of the robot in still water, flowing water, water with obstacles and natural water conditions. The results show that underwater robots are able to communicate electrically at a speed of around 1 k baud within about 3 m with a low power consumption (less than 1 W). In addition, we demonstrate that two leader-follower robots successfully achieve motion synchronization through electrocommunication in the three-dimensional underwater space, indicating that this bio-inspired electrocommunication system is a promising setup for the interaction of small underwater robots.

  4. Message Encryption in Robot Operating System: Collateral Effects of Hardening Mobile Robots

    Directory of Open Access Journals (Sweden)

    Francisco J. Rodríguez-Lera

    2018-03-01

    Full Text Available In human–robot interaction situations, robot sensors collect huge amounts of data from the environment in order to characterize the situation. Some of the gathered data ought to be treated as private, such as medical data (i.e., medication guidelines, personal, and safety information (i.e., images of children, home habits, alarm codes, etc.. However, most robotic software development frameworks are not designed for securely managing this information. This paper analyzes the scenario of hardening one of the most widely used robotic middlewares, Robot Operating System (ROS. The study investigates a robot’s performance when ciphering the messages interchanged between ROS nodes under the publish/subscribe paradigm. In particular, this research focuses on the nodes that manage cameras and LIDAR sensors, which are two of the most extended sensing solutions in mobile robotics, and analyzes the collateral effects on the robot’s achievement under different computing capabilities and encryption algorithms (3DES, AES, and Blowfish to robot performance. The findings present empirical evidence that simple encryption algorithms are lightweight enough to provide cyber-security even in low-powered robots when carefully designed and implemented. Nevertheless, these techniques come with a number of serious drawbacks regarding robot autonomy and performance if they are applied randomly. To avoid these issues, we define a taxonomy that links the type of ROS message, computational units, and the encryption methods. As a result, we present a model to select the optimal options for hardening a mobile robot using ROS.

  5. Transformers: Shape-Changing Space Systems Built with Robotic Textiles

    Science.gov (United States)

    Stoica, Adrian

    2013-01-01

    Prior approaches to transformer-like robots had only very limited success. They suffer from lack of reliability, ability to integrate large surfaces, and very modest change in overall shape. Robots can now be built from two-dimensional (2D) layers of robotic fabric. These transformers, a new kind of robotic space system, are dramatically different from current systems in at least two ways. First, the entire transformer is built from a single, thin sheet; a flexible layer of a robotic fabric (ro-fabric); or robotic textile (ro-textile). Second, the ro-textile layer is foldable to small volume and self-unfolding to adapt shape and function to mission phases.

  6. Modeling and Control of Collaborative Robot System using Haptic Feedback

    Directory of Open Access Journals (Sweden)

    Vivekananda Shanmuganatha

    2017-08-01

    Full Text Available When two robot systems can share understanding using any agreed knowledge, within the constraints of the system’s communication protocol, the approach may lead to a common improvement. This has persuaded numerous new research inquiries in human-robot collaboration. We have built up a framework prepared to do independent following and performing table-best protest object manipulation with humans and we have actualized two different activity models to trigger robot activities. The idea here is to explore collaborative systems and to build up a plan for them to work in a collaborative environment which has many benefits to a single more complex system. In the paper, two robots that cooperate among themselves are constructed. The participation linking the two robotic arms, the torque required and parameters are analyzed. Thus the purpose of this paper is to demonstrate a modular robot system which can serve as a base on aspects of robotics in collaborative robots using haptics.

  7. Construction Tele-Robotics System with AR Presentation

    International Nuclear Information System (INIS)

    Ootsubo, K; Kawamura, T; Yamada, H

    2013-01-01

    Tele-Robotics system using bilateral control is an effective tool for task in disaster scenes, and also in extreme environments. The conventional systems are equipped with a few color video cameras captures view of the task field, and their video images are sent to the operator via some network. Usually, the images are captured only from some fixed angles. So the operator cannot obtain intuitively 3D-sense of the task field. In our previous study, we proposed a construction tele-robotics system based on VR presentation. The operator intuits the geometrical states of the robot presented by CG, but the information of the surrounding environment is not included like a video image. So we thought that the task efficiency could be improved by appending the CG image to the video image. In this study, we developed a new presentation system based on augmented reality (AR). In this system, the CG image, which represents 3D geometric information for the task, is overlaid on the video image. In this study, we confirmed the effectiveness of the system experimentally. Additionally, we verified its usefulness to reduction of the communication delay associated with a tele-robotics system.

  8. A lightweight, inexpensive robotic system for insect vision.

    Science.gov (United States)

    Sabo, Chelsea; Chisholm, Robert; Petterson, Adam; Cope, Alex

    2017-09-01

    Designing hardware for miniaturized robotics which mimics the capabilities of flying insects is of interest, because they share similar constraints (i.e. small size, low weight, and low energy consumption). Research in this area aims to enable robots with similarly efficient flight and cognitive abilities. Visual processing is important to flying insects' impressive flight capabilities, but currently, embodiment of insect-like visual systems is limited by the hardware systems available. Suitable hardware is either prohibitively expensive, difficult to reproduce, cannot accurately simulate insect vision characteristics, and/or is too heavy for small robotic platforms. These limitations hamper the development of platforms for embodiment which in turn hampers the progress on understanding of how biological systems fundamentally work. To address this gap, this paper proposes an inexpensive, lightweight robotic system for modelling insect vision. The system is mounted and tested on a robotic platform for mobile applications, and then the camera and insect vision models are evaluated. We analyse the potential of the system for use in embodiment of higher-level visual processes (i.e. motion detection) and also for development of navigation based on vision for robotics in general. Optic flow from sample camera data is calculated and compared to a perfect, simulated bee world showing an excellent resemblance. Copyright © 2017 The Authors. Published by Elsevier Ltd.. All rights reserved.

  9. Dismantling of nuclear facilities. From a structural engineering perspective

    International Nuclear Information System (INIS)

    Block, Carsten; Henkel, Fritz-Otto; Bauer, Thomas

    2014-01-01

    The paper summarizes some important aspects, requirements and technical boundary conditions that need to be considered in dismantling projects in the nuclear sector from a structural engineering perspective. Besides general requirements regarding radiation protection, occupational safety, efficiency and cost effectiveness it is important to take into account other conditions which have a direct impact on technical details and the structural assessment of the dismantling project. These are the main aspects highlighted in this paper: - The structural assessment of dismantling projects has to be based on the as-built situation. - The limitations in terms of available equipment and space have to be taken into account. - The structural assessments are often non-standardized engineering evaluations. A selection of five dismantling projects illustrates the various structural aspects. (orig.)

  10. EMBEDDED CONTROL SYSTEM FOR MOBILE ROBOTS WITH DIFFERENTIAL DRIVE

    Directory of Open Access Journals (Sweden)

    Michal KOPČÍK

    2017-09-01

    Full Text Available This article deals with design and implementation of control system for mobile robots with differential drive using embedded system. This designed embedded system consists of single control board featuring ARM based microcontroller which control the peripherals in real time and perform all low-level motion control. Designed embedded system can be easily expanded with additional sensors, actuators or control units to enhance applicability of mobile robot. Designed embedded system also features build-in communication module, which can be used for data for data acquisition and control of the mobile robot. Control board was implemented on two different types of mobile robots with differential drive, one of which was wheeled and other was tracked. These mobile robots serve as testing platform for Fault Detection and Isolation using hardware and analytical redundancy using Multisensor Data Fusion based on Kalman filters.

  11. BellBot - A Hotel Assistant System Using Mobile Robots

    Directory of Open Access Journals (Sweden)

    Joaquín López

    2013-01-01

    Full Text Available There is a growing interest in applying intelligent technologies to assistant robots. These robots should have a number of characteristics such as autonomy, easy reconfiguration, robust perception systems and they should be oriented towards close interaction with humans. In this paper we present an automatic hotel assistant system based on a series of mobile platforms that interact with guests and service personnel to help them in different tasks. These tasks include bringing small items to customers, showing them different points of interest in the hotel, accompanying the guests to their rooms and providing them with general information. Each robot can also autonomously handle some daily scheduled tasks. Apart from user-initiated and scheduled tasks, the robots can also perform tasks based on events triggered by the building's automation system (BAS. The robots and the BAS are connected to a central server via a local area network. The system was developed with the Robotics Integrated Development Environment (RIDE and was tested intensively in different environments.

  12. Evolution of Robot-assisted ultrasound-guided breast biopsy systems

    Directory of Open Access Journals (Sweden)

    Mustafa Z. Mahmoud

    2018-01-01

    Full Text Available Robot-assisted ultrasound-guided breast biopsy combines ultrasound (US imaging with a robotic system for medical interventions. This study was designed to provide a literature review of a robotic US-guided breast biopsy system to delineate its efficacious impact on current medical practice. In addition, the strengths and limitations of this approach were also addressed. Articles published in the English language between 2000 and 2016 were appraised in this review. A wide range of systems that bind robotics with US imaging and guided breast biopsy were examined in this article. The fundamental safety and real-time imaging capabilities of US, together with the accuracy and maneuverability of robotic devices, is clearly an effective association with unmatched capabilities. Numerous experimental systems have obvious benefits over old-fashioned techniques, and the future of robot-assisted US-guided breast biopsy will be characterized by increasing levels of automation, and they hold tremendous possibility to impact doctor achievement, patient recovery, and clinical management.

  13. Dismantling of the 50 MW steam generator test facility

    International Nuclear Information System (INIS)

    Nakai, S.; Onojima, T.; Yamamoto, S.; Akai, M.; Isozaki, T.; Gunji, M.; Yatabe, T.

    1997-01-01

    We have been dismantling the 50MW Steam Generator Test Facility (50MWSGTF). The objectives of the dismantling are reuse of sodium components to a planned large scale thermal hydraulics sodium test facility and the material examination of component that have been operated for long time in sodium. The facility consisted of primary sodium loop with sodium heater by gas burner as heat source instead of reactor, secondary sodium loop with auxiliary cooling system (ACS) and water/steam system with steam temperature and pressure reducer instead of turbine. It simulated the 1 loop of the Monju cooling system. The rated power of the facility was 50MWt and it was about 1/5 of the Monju power plant. Several sodium removal methods are applied. As for the components to be dismantled such as piping, intermediate heat exchanger (IHX), air cooled heat exchangers (AC), sodium is removed by steam with nitrogen gas in the air or sodium is burned in the air. As for steam generators which material tests are planned, sodium is removed by steam injection with nitrogen gas to the steam generator. The steam generator vessel is filled with nitrogen and no air in the steam generator during sodium removal. As for sodium pumps, pump internal structure is pulled out from the casing and installed into the tank. After the installation, sodium is removed by the same method of steam generator. As for relatively small reuse components such as sodium valves, electromagnet flow meters (EMFs) etc., sodium is removed by alcohol process. (author)

  14. Dismantlement and destruction of chemical, nuclear and conventional weapons

    International Nuclear Information System (INIS)

    Schulte, N.T.

    1997-01-01

    The safe destruction and dismantling of chemical, nuclear and conventional weapons is of fundamental importance to the security of all countries represented in this volume. Expertise in the field is not confined to one country or organisation: all can benefit from each other. There is an ever present danger of proliferation of weapons of mass destruction: approximately two dozen countries have ongoing programmes to develop or acquire such weapons, and many are also gaining the capability to build air-surface delivery systems. But much can be done to prevent proliferation by reducing leakage of materials and know-how and by solving the problems of the destruction of surplus weapons systems, which has now come to be a key issue. In 13 sessions of the workshop attention was paid to (1) Dismantlement and Destruction of Chemical, Nuclear and Conventional Weapons; (2) Status of Implementation of Arms Control Treaties and Voluntary Commitments; (3) National Perspectives on Cooperation in Disarmament; (4) Stocktaking of National and Bilateral Disposal/Destruction Programmes: Chemical Weapons; (5) Stocktaking of National and Bilateral Disposal/Destruction Programmes: Nuclear Weapons; (6) Stocktaking of National and Bilateral Disposal/Destruction Programmes: Conventional Weapons. Session; (7) Experience with Currently Employed Chemical Destruction Technologies; (8) Alternative Chemical Destruction Technologies; (9) Deactivation, Dismantlement and Destruction of Delivery Systems and Infrastructure for Nuclear Weapons; (10) Storage, Safeguarding and Disposition of Fissile Materials; (11) Technologies for Conversion and Civil Use of Demilitarized Materials; (12) International Organizations; and (13) Environmental Challenges Posed by Chemical and Nuclear Disarmament

  15. Knowledge based systems for intelligent robotics

    Science.gov (United States)

    Rajaram, N. S.

    1982-01-01

    It is pointed out that the construction of large space platforms, such as space stations, has to be carried out in the outer space environment. As it is extremely expensive to support human workers in space for large periods, the only feasible solution appears to be related to the development and deployment of highly capable robots for most of the tasks. Robots for space applications will have to possess characteristics which are very different from those needed by robots in industry. The present investigation is concerned with the needs of space robotics and the technologies which can be of assistance to meet these needs, giving particular attention to knowledge bases. 'Intelligent' robots are required for the solution of arising problems. The collection of facts and rules needed for accomplishing such solutions form the 'knowledge base' of the system.

  16. Siroco, a configurable robot control system

    International Nuclear Information System (INIS)

    Tejedor, B.G.; Maraggi, G.J.B.

    1988-01-01

    The SIROCO (Configurable Robot Control System) is an electronic system designed to work in applications where mechanized remote control equipment and robots are necessary especially in Nuclear Power Plants. The structure of the system (hardware and software) determines the following user characteristics: a) Reduction in the time spent in NDT and in radiation doses absorbed, due to remote control operation; b) possibility for full automation in NDT, c) the system can simultaneously control up to six axes and can generate movements in remote areas; and d) possibility for equipment unification, due to SIROCO being a configurable system. (author)

  17. 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.

  18. 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

  19. Use of laser cutting techniques for dismantling tasks in nuclear facilities

    International Nuclear Information System (INIS)

    Haferkamp, H.; Drygalla, M.; Goede, M.

    2001-01-01

    A handguided laser processing system developed by laser zentrum Hannover e.V. (LZH) allows impressive cutting, notching, and material removal applications for the dismantling of nuclear power plants. The handguided unit is equipped with a motor drive for consistent processing results and flexible processing for as long as desired. It offers the possibility to adjust the nozzle as well as focal position in order that various materials with different material thicknesses may be processed. The set process parameters may be viewed on a display which also indicates the laser processing programme selected. An integrated exhaust system guarantees a shielded process. The operator is not only protected against process emissions but also against laser beam reflexions. The handguided unit is connected to the laser beam source via an optical fibre and can be used for laser output powers of up to 1500 W with a high beam quality. For handguided laser material processing low emissions at high feed rates as well as cutting kerf widths between 0.5 and 0.3 mm for special applications such as the dismantling of large facilities or units, etc. are decisive, especially when cutting metal sheets for the dismantling of nuclear power plants. (orig.)

  20. Use of laser cutting techniques for dismantling tasks in nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Haferkamp, H.; Drygalla, M.; Goede, M. [Laser Zentrum Hannover e.V. (Germany)

    2001-07-01

    A handguided laser processing system developed by laser zentrum Hannover e.V. (LZH) allows impressive cutting, notching, and material removal applications for the dismantling of nuclear power plants. The handguided unit is equipped with a motor drive for consistent processing results and flexible processing for as long as desired. It offers the possibility to adjust the nozzle as well as focal position in order that various materials with different material thicknesses may be processed. The set process parameters may be viewed on a display which also indicates the laser processing programme selected. An integrated exhaust system guarantees a shielded process. The operator is not only protected against process emissions but also against laser beam reflexions. The handguided unit is connected to the laser beam source via an optical fibre and can be used for laser output powers of up to 1500 W with a high beam quality. For handguided laser material processing low emissions at high feed rates as well as cutting kerf widths between 0.5 and 0.3 mm for special applications such as the dismantling of large facilities or units, etc. are decisive, especially when cutting metal sheets for the dismantling of nuclear power plants. (orig.)

  1. Research on wheelchair robot control system based on EOG

    Science.gov (United States)

    Xu, Wang; Chen, Naijian; Han, Xiangdong; Sun, Jianbo

    2018-04-01

    The paper describes an intelligent wheelchair control system based on EOG. It can help disabled people improve their living ability. The system can acquire EOG signal from the user, detect the number of blink and the direction of glancing, and then send commands to the wheelchair robot via RS-232 to achieve the control of wheelchair robot. Wheelchair robot control system based on EOG is composed of processing EOG signal and human-computer interactive technology, which achieves a purpose of using conscious eye movement to control wheelchair robot.

  2. Waste management concept during dismantling of KKS NPP in Germany

    International Nuclear Information System (INIS)

    Bacmeister, Georg U.

    2008-01-01

    Full text: This paper gives an overview on the waste management of NPP Stade during dismantling. The general idea is to reduce the radioactive waste to about three percentage of the complete dismantling mass. The NPP Stade in Germany was shut down in November 2003. After a transient phase the license for dismantling was given in 2005. In the following 8 years about 20.000 tones of steel and 120.000 tones of concrete will be put out by the dismantling. The yearly output of steel will by about 100 times higher than during the running time of the NNP. For this a new processes for waste management had to be installed. The waste management during dismantling focus on free release (about 97%). Beside some minor exception, the rest is deemed to be radioactive waste. This will be collected in 1000 packages, which are ready to be sent to a final storage. As until now in Germany no final storage is open (and sending of radioactive waste to another country is forbidden), the NNP Stade build an intermediate storage, where the packages may by saved for longest 40 years. The clearance procedure in Germany is regulated in the radiation protection ordinances. It is based on a nuclide specific set of clearance levels. To fulfil these demands the NNP Stade chose a semi automated system for characterization and documentation, which we develop in accordance to our release license. It guaranties a most accurate determination of the relevant nuclides for a set of dismantling material (some 10 to 100 tones). After the characterization only the gamma-activity of the material is measured in boxes of about 500 kg. A short comparison of the chosen procedure with other options, possible in Germany will be given and the decision from the collaboration with the NPP in Barsebaeck, Sweden, will be withdrawn. Beside the free release different options are used for waste management, like incineration, sending to landfill or reuse in nuclear industry. The waste management of the NNP Stade take

  3. Adaptation of a robot and tools for dismantling of a gas-cooled reactor

    International Nuclear Information System (INIS)

    Lewis, C.J.A.; Vibert, C.J.T.

    1989-01-01

    This report details the progress on a research programme to develop the techniques and design necessary to facilitate the use of commercially available industrial manipulator systems and cutting tools in nuclear environments, particularly that envisaged whilst decommissioning a gas-cooled reactor. The technology for the type of control and the machines to perform it already exist in the form of industrial-type robots. Development of the techniques for using these machines in a more operator-sensitive environment, together with the requirements of decontamination and radiation tolerance will enable them to be used in place of expensive purpose-built machines at a considerable cost saving. From this work it was possible to highlight the viability and associated costs of modifying a standard manipulator for use in decommissioning operations

  4. Robotic Services at Home: An Initialization System Based on Robots' Information and User Preferences in Unknown Environments

    Directory of Open Access Journals (Sweden)

    Nor Nur Safwati Mohd

    2014-07-01

    Full Text Available One important issue in robotic services is the construction of the robotic system in the actual environment. In other words, robots must perform environment sensing or have information on real objects, such as location and 3D dimensions, in order to live together with humans. It is crucial to have a mechanism to create an actual robotic system (intelligent space such that there is no initialization framework for the objects in the environment, or we have to perform SLAM and object recognition as well as mapping to generate a useful environmental database. In intelligent space research, normally the objects are attached to various sensors in order to extract the necessary information. However, that approach will highly depend on sensor accuracy and the robotic system will be burdened if there are too many sensors in an environment. Therefore, in this paper we present a system in which a robot can obtain information about an object and even create the furniture layout map for an unknown environment. Our approach is intended to improve home-based robotic services by taking into account the user or individual preferences for the Intelligent Space (IS. With this information, we can create an informational map of the home-based environment for the realization of robot assistance of humans in their daily activities at home, especially for disabled people. The result shows the system design and development in our approach by using model-based system engineering.

  5. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

    Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

  6. Dismantling and waste management: CEA's strategy and research programs

    International Nuclear Information System (INIS)

    Behar, C.

    2012-01-01

    There are 3 main dismantling operations in CEA. First, the dismantling of the UP1 facility in the Marcoule site. UP1 was a reprocessing plant of nuclear fuels that operated from 1958 to 1997 and is now the biggest dismantling operation in the world. Its dismantling operation follows a 6-step scheme that will end in 2050. Secondly, the Passage project on the Grenoble site that concerns the dismantling of 3 research reactors (Siloette, Melusine and Siloe), of a laboratory dedicated to the analysis of active materials (Lama) and of a station for the processing of waste (Sted). Thirdly the Aladin project that concerns the installations of the Fontenay-aux-Roses site. The dismantling operations are complex because all the first research programs on high activity chemistry and on transuranium elements were performed in Fontenay-aux-Roses facilities and because ancient activities have to leave a clean place to be replaced by new ones. The radioactive waste produced by CEA enter the flow of waste that is normally processed and managed by ANDRA. Only high-activities waste have not yet a definitive solution, they are stored in waiting the opening of a geological repository. CEA leads research programs on the separation and transmutation of minor actinides and on the long-term behaviour of waste packages put in deep geological layers. (A.C.)

  7. System for exchanging tools and end effectors on a robot

    International Nuclear Information System (INIS)

    Burry, D.B.; Williams, P.M.

    1991-01-01

    A system and method for exchanging tools and end effectors on a robot permits exchange during a programmed task. The exchange mechanism is located off the robot, thus reducing the mass of the robot arm and permitting smaller robots to perform designated tasks. A simple spring/collet mechanism mounted on the robot is used which permits the engagement and disengagement of the tool or end effector without the need for a rotational orientation of the tool to the end effector/collet interface. As the tool changing system is not located on the robot arm no umbilical cords are located on robot. 12 figures

  8. Vandellos-I Dismantling nearing completion

    International Nuclear Information System (INIS)

    Armada, J. R.

    2004-01-01

    Spain is witnessing the phase-out of a nuclear power plant. It is a unique experience in our country and therefore the dismantling work has been watched closely, not only from here but also from abroad. The Empresa Nacional de Residuos Radiactivos (ENRESA) is in charge of managring the dismantling and decommissioning work of the Vandellos-1 nuclear power plant, located in the municipally of l' Hospitalet de l'Infant (Tarragona). The work began five years ago and has been executed on schedule. The appearance of what was one of the first Spanish commercial nuclear power plants has been changed radically to leave premises suitable for any other activity. (Author)

  9. The installation and dismantling of electrolytic cells

    International Nuclear Information System (INIS)

    Galushkin, N.V.

    1995-01-01

    This chapter of monograph is devoted to construction of aluminium electrolytic cells, their installation and dismantling. Therefore, the general characteristic and classification of aluminium electrolytic cells was considered. The anode and cathode structure was studied. The lining of cathode casing, the process of collection of anode gases, electrolytic cell cover, and electrical insulation was studied as well. The installation and dismantling of aluminium electrolytic cells was described.

  10. DISMANTLING OF THE FUEL CELL LABORATORY AT RESEARCH CENTRE JUELICH

    International Nuclear Information System (INIS)

    Stahn, B.; Matela, K.; Bensch, D.; Ambos, Frank

    2003-01-01

    The fuel cell laboratory was constructed in three phases and taken into operation in the years 1962 to 1966. The last experimental work was carried out in 1996. After all cell internals had been disassembled, the fuel cell laboratory was transferred to shutdown operation in 1997. Three cell complexes, which differed, in particular, by the type of shielding (lead, cast steel, concrete), were available until then for activities at nuclear components. After approval by the regulatory authority, the actual dismantling of the fuel cell laboratory started in March 2000. The BZ I laboratory area consisted of 7 cells with lead shieldings of 100 to 250 mm thickness. This area was dismantled from April to September 2000. Among other things, approx. 30,000 lead bricks with a total weight of approx. 300 Mg were dismantled and disposed of. The BZ III laboratory area essentially consisted of cells with concrete shieldings of 1200 to 1400 mm thickness. The dismantling of this area started in the fir st half of 2001 and was completed in November 2002. Among other things, approx. 900 Mg of concrete was dismantled and disposed of. Since more than 90 % of the dismantled materials was measurable for clearance, various clearance measurement devices were used during dismantling. The BZ II laboratory area essentially consists of cells with cast steel shieldings of 400 to 460 mm thickness. In September 2002 it was decided to continue using this laboratory area for future tasks. The dismantling of the fuel cell laboratory was thus completed. After appropriate refurbishment, the fuel cell laboratory will probably take up operation again in late 2003

  11. Dismantling the nuclear research reactor Thetis

    Energy Technology Data Exchange (ETDEWEB)

    Michiels, P. [Belgoprocess, 2480 Dessel (Belgium)

    2013-07-01

    The research reactor Thetis, in service since 1967 and stopped in 2003, is part of the laboratories of the institution of nuclear science of the University of Ghent. The reactor, of the pool-type, was used as a neutron-source for the production of radio-isotopes and for activation analyses. The reactor is situated in a water pool with inner diameter of 3 m. and a depth of 7.5 m. The reactor core is situated 5.3 m under water level. Besides the reactor, the pool contains pneumatic loops, handling tools, graphite blocks for neutron moderation and other experimental equipment. The building houses storage rooms for fissile material and sources, a pneumatic circuit for transportation of samples, primary and secondary cooling circuits, water cleaning resin circuits, a ventilation system and other necessary devices. Because of the experimental character of the reactor, laboratories with glove boxes and other tools were needed and are included in the dismantling program. The building is in 3 levels with a crawl-space. The ground-floor contains the ventilation installation, the purification circuits with tanks, cooling circuits and pneumatic transport system. On the first floor, around the reactor hall, the control-room, visiting area, end-station for pneumatic transport, waste-storage room, fuel storage room and the labs are located. The second floor contains a few laboratories and end stations of the two high speed transfer tubes. The lowest level of the pool is situated under ground level. The reactor has been operated at a power of 150 kW and had a max operating power of 250 kW. Belgoprocess has been selected to decommission the reactor, the labs, storage halls and associated circuits to free release the building for conventional reuse and for the removal of all its internals as legal defined. Besides the dose-rate risk and contamination risk, there is also an asbestos risk of contamination. During construction of the installation, asbestos-containing materials were

  12. Robotics and remote systems for hazardous environments

    International Nuclear Information System (INIS)

    Jamshidi, M.; Eicker, P.

    1993-01-01

    This is the first volume in a series of books to be published by Prentice Hall on Environmental and Intelligent Manufacturing Systems. The editors have assembled an interdisciplinary collection of authors from industry, government, and academia, that provide a broad range of expertise on robotics and remote systems. Readily accessible to practicing engineers, the book provides case studies and introduces new technology applicable to remote operations in unstructured and/or hazardous environments. Chapter 1 gives an overview of the US Environmental Protection Agency's efforts to apply robotic technology to assist in the operations at hazardous waste sites. The next chapter focuses on the theory and implementation of robust impedance control for robotic manipulators. Chapter 3 presents a discussion on the integration of failure tolerance into robotic systems. The next two chapters address the issue of sensory feedback and its indispensable role in remote and/or hazardous environments. Chapter 6 presents numerous examples of robots and telemanipulators that have been applied for various tasks at the DOE's Savannah River Site. The following chapter picks up on this theme and discusses the fundamental paradigm shifts that are required in artificial intelligence for robots to deal with hazardous, unstructured, and dynamic environments. Chapter 8 returns to the issue of impedance control first raised in Chapter 2. While the majority of the applications discussed in this book are related to the nuclear industry, chapter 9 considers applying telerobotics for the control of traditional heavy machinery that is widely used in forestry, mining, and construction. The final chapter of the book returns to the topic of artificial intelligence's role in producing increased autonomy for robotic systems and provides an interesting counterpoint to the philosophy of reactive control discussed earlier

  13. Cooperative Three-Robot System for Traversing Steep Slopes

    Science.gov (United States)

    Stroupe, Ashley; Huntsberger, Terrance; Aghazarian, Hrand; Younse, Paulo; Garrett, Michael

    2009-01-01

    Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data

  14. Development of an advanced intelligent robot navigation system

    International Nuclear Information System (INIS)

    Hai Quan Dai; Dalton, G.R.; Tulenko, J.; Crane, C.C. III

    1992-01-01

    As part of the US Department of Energy's Robotics for Advanced Reactors Project, the authors are in the process of assembling an advanced intelligent robotic navigation and control system based on previous work performed on this project in the areas of computer control, database access, graphical interfaces, shared data and computations, computer vision for positions determination, and sonar-based computer navigation systems. The system will feature three levels of goals: (1) high-level system for management of lower level functions to achieve specific functional goals; (2) intermediate level of goals such as position determination, obstacle avoidance, and discovering unexpected objects; and (3) other supplementary low-level functions such as reading and recording sonar or video camera data. In its current phase, the Cybermotion K2A mobile robot is not equipped with an onboard computer system, which will be included in the final phase. By that time, the onboard system will play important roles in vision processing and in robotic control communication

  15. Robotics crosscutting program: Technology summary

    International Nuclear Information System (INIS)

    1996-08-01

    The Office of Environmental Management (EM) is responsible for cleaning up the legacy of radioactive and chemically hazardous waste at contaminated sites and facilities throughout the U.S. Department of Energy (DOE) nuclear weapons complex, preventing further environmental contamination, and instituting responsible environmental management. Initial efforts to achieve this mission resulted in the establishment of environmental restoration and waste management programs. However, as EM began to execute its responsibilities, decision makers became aware that the complexity and magnitude of this mission could not be achieved efficiently, affordably, safely, or reasonably with existing technology. Once the need for advanced cleanup technologies became evident, EM established an aggressive, innovative program of applied research and technology development. The Office of Technology Development (OTD) was established in November 1989 to advance new and improved environmental restoration and waste management technologies that would reduce risks to workers, the public, and the environment; reduce cleanup costs; and devise methods to correct cleanup problems that currently have no solutions. In 1996, OTD added two new responsibilities - management of a Congressionally mandated environmental science program and development of risk policy, requirements, and guidance. OTD was renamed the Office of Science and Technology (OST). This documents presents information concerning robotics tank waste retrieval overview, robotic chemical analysis automation, robotics decontamination and dismantlement, and robotics crosscutting and advanced technology

  16. 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

  17. 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.

  18. Systems and Algorithms for Automated Collaborative Observation Using Networked Robotic Cameras

    Science.gov (United States)

    Xu, Yiliang

    2011-01-01

    The development of telerobotic systems has evolved from Single Operator Single Robot (SOSR) systems to Multiple Operator Multiple Robot (MOMR) systems. The relationship between human operators and robots follows the master-slave control architecture and the requests for controlling robot actuation are completely generated by human operators. …

  19. Dismantling the silicon microstrip detector on L3

    CERN Multimedia

    Laurent Guiraud

    2001-01-01

    The silicon microstrip detector is located at the heart of the detector and must be kept cool to prevent thermal noise. The work shown here is the removal of the cooling system. L3 was dismantled as part of the closure of the entire LEP accelerator in 2000 to make way for the new LHC.

  20. A Haptic Guided Robotic System for Endoscope Positioning and Holding.

    Science.gov (United States)

    Cabuk, Burak; Ceylan, Savas; Anik, Ihsan; Tugasaygi, Mehtap; Kizir, Selcuk

    2015-01-01

    To determine the feasibility, advantages, and disadvantages of using a robot for holding and maneuvering the endoscope in transnasal transsphenoidal surgery. The system used in this study was a Stewart Platform based robotic system that was developed by Kocaeli University Department of Mechatronics Engineering for positioning and holding of endoscope. After the first use on an artificial head model, the system was used on six fresh postmortem bodies that were provided by the Morgue Specialization Department of the Forensic Medicine Institute (Istanbul, Turkey). The setup required for robotic system was easy, the time for registration procedure and setup of the robot takes 15 minutes. The resistance was felt on haptic arm in case of contact or friction with adjacent tissues. The adaptation process was shorter with the mouse to manipulate the endoscope. The endoscopic transsphenoidal approach was achieved with the robotic system. The endoscope was guided to the sphenoid ostium with the help of the robotic arm. This robotic system can be used in endoscopic transsphenoidal surgery as an endoscope positioner and holder. The robot is able to change the position easily with the help of an assistant and prevents tremor, and provides a better field of vision for work.

  1. Process cells dismantling of EUREX pant: previous activities

    International Nuclear Information System (INIS)

    Gili, M.

    1998-01-01

    In the '98-'99 period some process cells of the EUREX pant will be dismantled, in order to place there the liquid wastes conditioning plant 'CORA'. This report resumes the previous activities (plant rinsing campaigns and inactive Cell 014 dismantling), run in the past three years and the drawn experience [it

  2. Robotic system for the servicing of the orbiter thermal protection system

    Science.gov (United States)

    Graham, Todd; Bennett, Richard; Dowling, Kevin; Manouchehri, Davoud; Cooper, Eric; Cowan, Cregg

    1994-01-01

    This paper describes the design and development of a mobile robotic system to process orbiter thermal protection system (TPS) tiles. This work was justified by a TPS automation study which identified tile rewaterproofing and visual inspection as excellent applications for robotic automation.

  3. Systems analysis of radiation safety during dismantling of power-plant equipment at a nuclear power station

    International Nuclear Information System (INIS)

    Bylkin, B.K.; Shpitser, V.Ya.

    1993-01-01

    A systems analysis of the radiation safety makes possible an ad hoc determination of the elements forming the system, as well as the establishment of the characteristics of their interaction with radiation-effect factors. Here the authors will present part of the hierarchical analysis procedure, consisting in general of four separate procedures. The purpose is to investigate and analyze the mean and stable (on the average) indices of radiation safety, within the framework of alternative mathematical models of dismantling the power-plant equipment of a nuclear power station. The following three of the four procedures are discussed: (1) simulated projection, of the processing of radioactive waste; (2) analysis of the redistribution of radionuclides during the industrial cycle of waste treatment; (3) planning the collective dose load during the dismantling operation. Within the framework of the first of these procedures, the solutions to the problem of simulating a waste-treatment operation of maximum efficiency are analyzed. This analysis is based on the use of a data base for the parameters of the installations, assemblies, and equipment, enabling the integration of these in a simulation of a complex automated facility. The results were visualized in an AUTOCAD-10 medium using a graphical data base containing an explanation of the rooms

  4. Remote-controlled vision-guided mobile robot system

    Science.gov (United States)

    Ande, Raymond; Samu, Tayib; Hall, Ernest L.

    1997-09-01

    Automated guided vehicles (AGVs) have many potential applications in manufacturing, medicine, space and defense. The purpose of this paper is to describe exploratory research on the design of the remote controlled emergency stop and vision systems for an autonomous mobile robot. The remote control provides human supervision and emergency stop capabilities for the autonomous vehicle. The vision guidance provides automatic operation. A mobile robot test-bed has been constructed using a golf cart base. The mobile robot (Bearcat) was built for the Association for Unmanned Vehicle Systems (AUVS) 1997 competition. The mobile robot has full speed control with guidance provided by a vision system and an obstacle avoidance system using ultrasonic sensors systems. Vision guidance is accomplished using two CCD cameras with zoom lenses. The vision data is processed by a high speed tracking device, communicating with the computer the X, Y coordinates of blobs along the lane markers. The system also has three emergency stop switches and a remote controlled emergency stop switch that can disable the traction motor and set the brake. Testing of these systems has been done in the lab as well as on an outside test track with positive results that show that at five mph the vehicle can follow a line and at the same time avoid obstacles.

  5. An off-line programming system for palletizing robot

    Directory of Open Access Journals (Sweden)

    Youdong Chen

    2016-09-01

    Full Text Available Off-line programming systems are essential tools for the effective use of palletizing robots. This article presents a dedicated off-line programming system for palletizing robots. According to the user practical requirements, there are many user-defined patterns that can’t be easily generated by commercial off-line robot programming systems. This study suggests a pattern generation method that users can easily define their patterns. The proposed method has been simulation and experiment. The results have attested the effectiveness of the proposed pattern generation method.

  6. Application of robotics to distribution systems

    Energy Technology Data Exchange (ETDEWEB)

    Ramsbottom, W

    1986-06-01

    Robotic technology has been recognized as having potential application in lifeline maintenance and repair. A study was conducted to investigate the feasibility of utilizing robotics for this purpose, and to prepare a general design of appropriate equipment. Four lifeline tasks were selected as representative of the majority of work. Based on a detailed task decomposition, subtasks were rated on amenability to robot completion. All tasks are feasible, but in some cases special tooling is required. Based on today's robotics, it is concluded that a force reflecting master/slave telemanipulator, augmented by automatic robot tasks under a supervisory control system, provides the optimal approach. No commercially available products are currently adequate for lifeline work. A general design of the telemanipulator, which has been named the SKYARM has been developed, addressing all subsystems such as the manipulator, video, control power and insulation. The baseline system is attainable using today's technology. Improved performance and lower cost will be achieved through developments in artificial intelligence, machine vision, supervisory control and dielectrics. Immediate benefits to utilities include increased safety, better service and savings on a subset of maintenance tasks. In 3-5 years, the SKYARM will prove cost effective as a general purpose lifeline tool. 7 refs., 26 figs., 3 tabs.

  7. Development of an advanced robot manipulator system

    International Nuclear Information System (INIS)

    Oomichi, Takeo; Higuchi, Masaru; Shimizu, Yujiro; Ohnishi, Ken

    1991-01-01

    A sophisticated manipulator system for an advanced robot was developed under the 'Advanced Robot Technology Development' Program promoted and supported by the Agency of Industrial Science and Technology of MITI. The authors have participated in the development of a fingered manipulator with force and tactile sensors applicable to a masterslave robot system. Our slave manipulator is equipped with four fingers. Though the finger needs many degrees of freedom so as to be suitable for skilful handing of an object, our fingers are designed to have minimum degree of freedom in order to reduce weight. Each finger tip was designed to be similar to a human finger which has flexibility, softness and contact feeling. The shape of the master finger manipulator was so designed that the movement of the fingers is smoother and that the constraint feeling of the operator is smaller. We were adopted to a pneumatic pressure system for transmitting the tactile feeling of the slave fingers to the master fingers. A multiple sensory bilateral control system which gives an operator a feeling of force and tactile reduces his feeling of constraint in carrying out work with a robot system. (author)

  8. Dismantling without contaminating: The EUREX plant experience

    International Nuclear Information System (INIS)

    2001-01-01

    The EUREX pilot plant of ENEA Research Centre of Saluggia (Italy) reprocessed, between 1970 and 1983, some 600 elements and 1.5 tonnes of irradiated fuel from MTR and CANDU reactors. The general programme of denuclearization of the site actually focuses on the main priority of the conditioning of the about 400 m 3 of High and Low Level Liquid wastes stored in Saluggia. For this reason, in 1997 a project for the H and LLW conditioning, named 'CORA' has started. The 'CORA' unit will solidify the liquid wastes applying the Cold Crucible Melter (CCM) technology; due to the low volume amount of wastes to vitrify, the 'CORA' project has been accurately tailored in order to reduce social impact on public acceptance, costs and conditioning plant volumes to dismantle at the end of the work. For this reason, all the main nuclear components of the conditioning unit (input tank and pretreatment section, CC Melter, pot handling, off-gas system, interim glass storage) will be hosted inside four existing cells of the EUREX plant, duly dismantled. The EUREX plant services (electric and process fluid supplies, controlled areas, ventilation system...) will be reused too, revamped in some cases. The reuse of a nuclear plant which was built in the 60's, as the EUREX is, for future conditioning activities to be 'transplanted' there in the next years, it is not quite an easy job: the partial EUREX dismantling must permit an easy recovery of process areas and spread of contamination from old components (tanks, pipes, valves...) has to be minimized as far as possible. In order to minimize contamination spread, pipe cutting is made by a hydraulic shear, leaving the cut edges closed. Size reduction of pipes and tanks, to optimize the 5 m 3 steel storage containers filling is, as far as possible, made out of the working area of the cells. To achieve this goal a preliminary sketch of pipes to be cut and where the minimal cuts ought to be done is prepared before each intervention. The time

  9. Underwater-manipulation system for measuring- and cutting tasks in dismantling decommissioned nuclear facilities. Final report

    International Nuclear Information System (INIS)

    Stegemann, D.; Reimche, W.; Hansch, M.; Spitzer, M.

    1995-01-01

    Not only manipulators are necessary for dismantling and inspection of structure parts in decomissioned nuclear facilities, but flexible underwater-vehicles. Free-diving underwater-vehicles for inspection and dismantling tasks are still not developed and tested. Aim of the project is the development of sensors and devices for the position determination and the depth regulation. For inspection tasks an ultrasonic measurement and dosimeter device shall be built up. A measurement device has been developed which evaluates the ultrasonic time of flight from a transmitter at the vehicle to several receivers, installed in the reactor pressure vessel. The depth regulation is based on a pressure sensor and the direct control of the thrusters. The ultrasonic measurements are realized by an adapted ultrasonic card, the γ-dosimetry with an ionization chamber and a pA-amplifier. An acoustic orientation system was built up, which measures very accurately with one transmitter mounted on the vehicle and four receivers. Problem occur by reflection from the walls of the basin. The depth regulation is working faultless. The ultrasonic device is preferably used for distance measurement. The radiation measurement device was tested and mounted in the vehicle. (orig./HP) [de

  10. 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.

  11. micROS: a morphable, intelligent and collective robot operating system.

    Science.gov (United States)

    Yang, Xuejun; Dai, Huadong; Yi, Xiaodong; Wang, Yanzhen; Yang, Shaowu; Zhang, Bo; Wang, Zhiyuan; Zhou, Yun; Peng, Xuefeng

    2016-01-01

    Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of micROS, including the distributed architecture for collective robot system as a whole and the layered architecture for every single node. We then present the design of autonomous behavior management based on the observe-orient-decide-act cognitive behavior model and the design of collective intelligence including collective perception, collective cognition, collective game and collective dynamics. We also give the design of morphable resource management, which first categorizes robot resources into physical, information, cognitive and social domains, and then achieve morphability based on self-adaptive software technology. We finally deploy micROS on NuBot football robots and achieve significant improvement in real-time performance.

  12. Economical dismantling of nuclear power stations

    International Nuclear Information System (INIS)

    Mallok, J.; Andermann, H.

    1999-01-01

    The dismantling of nuclear power stations requires a high degree of security and economic efficiency due to the strong contamination of components and the close spatial conditions. In order to protect involved staff from radiation, modern remote-controlled technology is applied in sectors with heavy radioactive contamination such as reactor pressure vessels. The article shows, that the dismantling of reactor pressure vessels using a remote-controlled milling machine developed by the Siemens subsidiary Mechanik Center Erlangen GmbH, can be done in a secure and efficient way. (orig.) [de

  13. General plan for the partial dismantling of the IRT-Sofia research reactor

    Directory of Open Access Journals (Sweden)

    Apostolov Tihomir G.

    2006-01-01

    Full Text Available After the decision of the Bulgarian Government to reconstruct it, the strategy concerning the IRT-Sofia Research Reactor is to partially dismantle the old systems and equipment. The removal of the reactor core and replacement of old equipment will not pose any significant problems. For a more efficient use of existing resources, there is a need for an engineering project which has been already prepared under the title "General Plan for the Partial Dismantling of Equipment at the IRT-Sofia as a Part of the Reconstruction into a Low Power RR".

  14. Progress in EEG-Based Brain Robot Interaction Systems

    Directory of Open Access Journals (Sweden)

    Xiaoqian Mao

    2017-01-01

    Full Text Available The most popular noninvasive Brain Robot Interaction (BRI technology uses the electroencephalogram- (EEG- based Brain Computer Interface (BCI, to serve as an additional communication channel, for robot control via brainwaves. This technology is promising for elderly or disabled patient assistance with daily life. The key issue of a BRI system is to identify human mental activities, by decoding brainwaves, acquired with an EEG device. Compared with other BCI applications, such as word speller, the development of these applications may be more challenging since control of robot systems via brainwaves must consider surrounding environment feedback in real-time, robot mechanical kinematics, and dynamics, as well as robot control architecture and behavior. This article reviews the major techniques needed for developing BRI systems. In this review article, we first briefly introduce the background and development of mind-controlled robot technologies. Second, we discuss the EEG-based brain signal models with respect to generating principles, evoking mechanisms, and experimental paradigms. Subsequently, we review in detail commonly used methods for decoding brain signals, namely, preprocessing, feature extraction, and feature classification, and summarize several typical application examples. Next, we describe a few BRI applications, including wheelchairs, manipulators, drones, and humanoid robots with respect to synchronous and asynchronous BCI-based techniques. Finally, we address some existing problems and challenges with future BRI techniques.

  15. An Evaluation of Dismantling Scenarios Using a Computer Simulation Technology for KRR-1 and 2

    International Nuclear Information System (INIS)

    Kim, S.K.; Park, H.S.; Lee, K.W.; Oh, W.Z.; Park, J.H.

    2006-01-01

    A graphic simulation has been used to design and verify new equipment and has also been expanded to virtual prototyping technology [1∼5]. In the nuclear decommissioning field, this technology has been utilized to validate the design of dismantling processes and to check the interferences and collisions in dismantling scenarios. However, a graphic simulation only provides us with visible result it just provides us with illustrative information of the decommissioning process. A scenario evaluation program has been developed using the computer simulation technology to create an efficient decommissioning plan. In the D and D planning stage, it is important that the scenarios are evaluated from a engineering point of view because the decommissioning work has to be executed economically and safely following the best scenarios. Therefore, we need several modules to evaluate scenarios. We composed the systems like this: 1. Decommissioning DB module for managing the decommissioning activity information (nuclear facility data, worker's data, radioactive inventory date, etc.). Dismantling process evaluation module 3. Visualization module for a radioactive inventory and a dismantling process using 3D CAD and virtual reality technology. 4. Analysis module for the evaluation results of a dismantling process. The evaluation module's capabilities produce a dismantling schedule, quantify radioactive waste, visualize a radioactive inventory, estimate a decommissioning cost, estimate a worker's exposure, and check for interference/collisions. After using the simulation results, the expert ranking system to evaluate scenarios for economics and worker's safety are implemented. The expert ranking system is a powerful and flexible decision making process to help set priorities and make the best decisions when both the qualitative and quantitative aspects of a decision need to be considered. By reducing complex decisions to a series of one-on-one comparisons, then synthesizing the

  16. Autonomous mobile robotic system for supporting counterterrorist and surveillance operations

    Science.gov (United States)

    Adamczyk, Marek; Bulandra, Kazimierz; Moczulski, Wojciech

    2017-10-01

    Contemporary research on mobile robots concerns applications to counterterrorist and surveillance operations. The goal is to develop systems that are capable of supporting the police and special forces by carrying out such operations. The paper deals with a dedicated robotic system for surveillance of large objects such as airports, factories, military bases, and many others. The goal is to trace unauthorised persons who try to enter to the guarded area, document the intrusion and report it to the surveillance centre, and then warn the intruder by sound messages and eventually subdue him/her by stunning through acoustic effect of great power. The system consists of several parts. An armoured four-wheeled robot assures required mobility of the system. The robot is equipped with a set of sensors including 3D mapping system, IR and video cameras, and microphones. It communicates with the central control station (CCS) by means of a wideband wireless encrypted system. A control system of the robot can operate autonomously, and under remote control. In the autonomous mode the robot follows the path planned by the CCS. Once an intruder has been detected, the robot can adopt its plan to allow tracking him/her. Furthermore, special procedures of treatment of the intruder are applied including warning about the breach of the border of the protected area, and incapacitation of an appropriately selected very loud sound until a patrol of guards arrives. Once getting stuck the robot can contact the operator who can remotely solve the problem the robot is faced with.

  17. Development of equipments for remote dismantling of joule heated ceramic melter

    International Nuclear Information System (INIS)

    Badgujar, Kiran T.; Usarkar, Sachin G.; Kumar, Binu; Nair, K.N.S.

    2011-01-01

    Joule Heated Ceramic Melter (JHCM) technology has been adopted for industrial scale vitrification of high level liquid waste (HLLW) at Tarapur and Kalpakkam. The melter installed at Advanced Vitrification System (AVS), Tarapur has immobilized 175 m 3 of HLLW in 113 canisters containing 11533Kg of Vitrified Waste Product (VWP). The melter has been in operation for 3 years before shutdown. It is intended to demonstrate the complete procedure of dismantling of Joule Melter in 1:1 scale prior to going in for actual dismantling in the hot cell. The Melter consists of an assembly of Inconel/SS pipes and plates, fuse cast refractories, thermal insulations of various types inside a SS casing and possibly some glass which is left over in the melter. Dismantling of melter involves remote cutting of the outer casing, pipe connections, electrical connections and removal, sizing and packing of internals in a sequential manner to minimise generation of secondary waste. The challenge involves development of remotely operated multi-degrees of freedom fixtures, modification and performance testing of standard industrial cutting and breaking tools and adapting them for remote operations. The work also involves development of equipments for collection of waste generated during the dismantling operation and packaging thus in special packages. Remotely actuated fixtures have been developed for remote top plate and side electrodes cutting. Remotely operated grab has been developed for handling of loose material and grippers have been developed for handling of refractory blocks. Industrial vacuum suction device has been modified into split units to enable for reducing the spread of powder material, while dismantling in progress. The performance test of developed fixtures, equipments, cutting and breaking tools have been carried on 1:1 scale melter model. Various parameters like cutting speed, cutting tool performance, generation of waste volume has been measured and analysed for

  18. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

  19. Cutting and decontamination technologies for nuclear facility dismantling; Technologien zur Zerlegung und zur Dekontamination von kerntechnischen Anlagen

    Energy Technology Data Exchange (ETDEWEB)

    Huebner, Felix; Grone, Georg von; Schultmann, Frank

    2017-03-15

    The German Government's decision to phase-out nuclear power will lead to a substantial increase of the number of nuclear decommissioning and dismantling projects. The decommissioning of nuclear facilities must meet the requirements of the radiation protection ordinance. This study deals with the decontamination and dismantling technologies available to meet radiation protection requirements. The aim of this study is to determine the state of the art in the field of decommissioning and dismantling technologies. Furthermore, future trends in the development and application of such technologies should be identified. A detailed study of current literature provides an overview of established decommissioning technologies. Moreover, experts were consulted in order to facilitate a practical assessment. The experts' statements indicate that (apart from the chemical decontamination of the primary circuit) the use of mechanical methods is generally preferred. Abrasive methods are rated as particularly efficient. According to the experts, the development of new decontamination technologies may allow a more efficient decontamination. However, the success of a new technology will be subject to its application costs. Mechanical technologies are preferred for the dismantling of nuclear facilities. The band saw has been identified as a standard tool in nuclear dismantling. The survey has concluded that there is no need for new dismantling technologies. The potential lies in the optimization of existing processes and techniques. With regard to remotely operated systems, experts' opinions vary on whether the use of these systems will increase in future. Most areas inside a nuclear facility have low radiation levels that allow the use of human labour for the dismantling. However, there is a need for an improvement in the allocation and management of decommissioning projects.

  20. Evaluation of decontamination during dismantling of plutonium-contaminated glove boxes

    International Nuclear Information System (INIS)

    Kinugasa, Manabu; Taguchi, Seigi; Ohzeki, Satoru; Inoue, Yoshiaki; Kashima, Sadamitsu

    1981-01-01

    The dismantling work of plutonium-contaminated glove boxes was carried out. These glove boxes had been used for the R and D of plutonium-uranium mixed oxide fuel for 15 years. The work was carried out in a pressure-controlled greenhouse, and the contamination of air in the greenhouse was monitored continuously. In order to reduce the contamination of air during dismantling, the decontamination and fixation of loose contaminants on the surfaces of glove boxes were very important. The correlation between decontamination and the contamination of air regarding dismantling is reported in this paper. The surface contamination density of the glove boxes was measured utilizing the smear method before and after the decontamination, and the decontamination effects were estimated. The contamination of air during dismantling was continuously measured with a plutonium dust monitor. It was found that loose contamination exponentially decreased by the decontamination process. When the so-called wet glove boxes, which contained wet recovery and waste disposal apparatus, were dismantled, the contamination of air did not exceed 500 (MPC) a. However, the contamination of air exceeded 500 (MPC) a several times in the present work of dismantling the so-called dry glove boxes which had been used for the fabrication of plutonium-uranium mixed oxide pellets. (Kato, T.)

  1. Development of plasma arc cutting technique for dismantlement of reactor internals in JPDR decommissioning program

    International Nuclear Information System (INIS)

    Yanagihara, Satoshi; Tanaka, Mitsugu; Ujihara, Norio.

    1988-01-01

    The decommissioning program for JPDR has been conducted by JAERI since 1981 under contact with the Science and Technology Agency of Japan. The development of cutting tools for dismantling the JPDR is one of the important items in the program. An underwater plasma arc cutting technique was selected for dismantling the JPDR core internals. The study was concentrated on improving the cutting ability in water. Various cutting tests were conducted changing the parameters such as arc current, supply gas and cutting speed to evaluate the most effective cutting condition. Through the study, it has been achieved to be able to cut a 130 mm thick stainless steel plate in water. In addition, the amount and the characteristics of by-products were measured during the cutting tests for the safety evaluation of the dismantling activities. Final cutting tests and checkout of whole plasma arc cutting system were conducted using a mockup water pool and test pieces simulating the JPDR core internals. It was proved from the tests that the cutting system developed in the program will be applicable for the JPDR core internals dismantlement. (author)

  2. Towards Real-Time Distributed Planning in Multi-Robot Systems

    KAUST Repository

    Abdelkader, Mohamed

    2018-04-01

    Recently, there has been an increasing interest in robotics related to multi-robot applications. Such systems can be involved in several tasks such as collaborative search and rescue, aerial transportation, surveillance, and monitoring, to name a few. There are two possible architectures for the autonomous control of multi-robot systems. In the centralized architecture, a master controller communicates with all the robots to collect information. It uses this information to make decisions for the entire system and then sends commands to each robot. In contrast, in the distributed architecture, each robot makes its own decision independent from a central authority. While distributed architecture is a more portable solution, it comes at the expense of extensive information exchange (communication). The extensive communication between robots can result in decision delays because of which distributed architecture is often impractical for systems with strict real-time constraints, e.g. when decisions have to be taken in the order of milliseconds. In this thesis, we propose a distributed framework that strikes a balance between limited communicated information and reasonable system-wide performance while running in real-time. We implement the proposed approach in a game setting of two competing teams of drones, defenders and attackers. Defending drones execute a proposed linear program algorithm (using only onboard computing modules) to obstruct attackers from infiltrating a defense zone while having minimal local message passing. Another main contribution is that we developed a realistic simulation environment as well as lab and outdoor hardware setups of customized drones for testing the system in realistic scenarios. Our software is completely open-source and fully integrated with the well-known Robot Operating System (ROS) in hopes to make our work easily reproducible and for rapid future improvements.

  3. Decontamination and partial dismantling of the Eurochemic plant. Part 1

    International Nuclear Information System (INIS)

    Detilleux, E.; Geens, L.; Hild, W.; Klonk, W.

    1980-09-01

    A description is given of the partial dismantling of the dissolver used for fuel elements of up to 1.6 wt % 235 U enrichment, and of the total dismantling of the dissolver for highly enriched fuel elements. The corresponding head-end cells have been decontaminated, allowing prolonged interventions, either in view of refurbishing or complete dismantling. An assessment of required manpower, dose commitments, material consumption, and waste production for all operations is given. (author)

  4. LEP Dismantling Reaches Half-Way Stage

    CERN Multimedia

    2001-01-01

    LEP's last superconducting module leaves its home port... Just seven months into the operation, LEP dismantling is forging ahead. Two of the eight arcs which form the tunnel have already been emptied and the last of the accelerator's radiofrequency (RF) cavities has just been raised to the surface. The 160 people working on LEP dismantling have reason to feel pleased with their progress. All of the accelerator's 72 superconducting RF modules have already been brought to the surface, with the last one being extracted on 2nd May. This represents an important step in the dismantling process, as head of the project, John Poole, explains. 'This was the most delicate part of the project, because the modules are very big and they could only come out at one place', he says. The shaft at point 1.8 through which the RF cavity modules pass is 18 metres in diameter, while each module is 11.5 metres long. Some modules had to travel more than 10 kilometres to reach the shaft. ... is lifted up the PM 1.8 shaft, after a m...

  5. Dismantling at the CEA's Nuclear Energy Division: strategy and programmes

    International Nuclear Information System (INIS)

    Lecomte, C.; Prunele, D. de; Rozain, J.P.; Nokhamzon, J.G.; Tallec, M.

    2008-01-01

    The CEA's Nuclear Energy Division (DEN) nuclear facilities currently include seventeen reactors and thirty six other miscellaneous facilities, particularly laboratories, fuel processing units and facilities specific to waste management. Some of these are currently being dismantled or must be dismantled soon so that the DEN, the Nuclear Energy Division, can construct new equipment and thus have available a range of R and D facilities in line with the issues of the nuclear industry of the future. At CEA, the first nuclear facility dismantling operations go back several dozen years and involve numerous and varied facilities. The first operations of any significance took place in the 1960's and 1970's and covered, for example, the first plutonium plant at Fontenay-aux-Roses (total dismantling) and small research reactors or critical models - CESAR and PEGGY at Cadarache and MINERVE at Fontenay-aux Roses (civil engineering cleaned up and kept). At La Hague, the dismantling of AT1, a pilot workshop used by the CEA during the 1970's to process irradiated fuels from fast neutron reactors, was completed in March 2001 (IAEA former stage 3, excluding civil engineering demolition). On the other hand, during this period of first dismantling, the intermediate-sized reactors (G1, Rapsodie) were only partially dismantled after shut down, mainly due to the lack of graphite and sodium waste management routes at the time. About twenty facilities were thus dealt with up to 2001, in other words about half of all the nuclear facilities shut down permanently before this date. (authors)

  6. Vision-based robotic system for object agnostic placing operations

    DEFF Research Database (Denmark)

    Rofalis, Nikolaos; Nalpantidis, Lazaros; Andersen, Nils Axel

    2016-01-01

    Industrial robots are part of almost all modern factories. Even though, industrial robots nowadays manipulate objects of a huge variety in different environments, exact knowledge about both of them is generally assumed. The aim of this work is to investigate the ability of a robotic system to ope...... to the system, neither for the objects nor for the placing box. The experimental evaluation of the developed robotic system shows that a combination of seemingly simple modules and strategies can provide effective solution to the targeted problem....... to operate within an unknown environment manipulating unknown objects. The developed system detects objects, finds matching compartments in a placing box, and ultimately grasps and places the objects there. The developed system exploits 3D sensing and visual feature extraction. No prior knowledge is provided...

  7. Walking Robots Dynamic Control Systems on an Uneven Terrain

    Directory of Open Access Journals (Sweden)

    MUNTEANU, M. S.

    2010-05-01

    Full Text Available The paper presents ZPM dynamic control of walking robots, developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on an uneven terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking robot control systems for slope movement and walking by overtaking or going around obstacles.

  8. A cognitive robotics system: the symbolic and sub-symbolic robotic intelligence control system (SS-RICS)

    Science.gov (United States)

    Kelley, Troy D.; Avery, Eric

    2010-04-01

    This paper will detail the progress on the development of the Symbolic and Subsymbolic Robotics Intelligence Control System (SS-RICS). The system is a goal oriented production system, based loosely on the cognitive architecture, the Adaptive Control of Thought-Rational (ACT-R) some additions and changes. We have found that in order to simulate complex cognition on a robot, many aspects of cognition (long term memory (LTM), perception) needed to be in place before any generalized intelligent behavior can be produced. In working with ACT-R, we found that it was a good instantiation of working memory, but that we needed to add other aspects of cognition including LTM and perception to have a complete cognitive system. Our progress to date will be noted and the challenges that remain will be addressed.

  9. System design for safe robotic handling of nuclear materials

    International Nuclear Information System (INIS)

    Drotning, W.; Wapman, W.; Fahrenholtz, J.; Kimberly, H.; Kuhlmann, J.

    1996-01-01

    Robotic systems are being developed by the Intelligent Systems and Robotics Center at Sandia National Laboratories to perform automated handling tasks with radioactive nuclear materials. These systems will reduce the occupational radiation exposure to workers by automating operations which are currently performed manually. Because the robotic systems will handle material that is both hazardous and valuable, the safety of the operations is of utmost importance; assurance must be given that personnel will not be harmed and that the materials and environment will be protected. These safety requirements are met by designing safety features into the system using a layered approach. Several levels of mechanical, electrical and software safety prevent unsafe conditions from generating a hazard, and bring the system to a safe state should an unexpected situation arise. The system safety features include the use of industrial robot standards, commercial robot systems, commercial and custom tooling, mechanical safety interlocks, advanced sensor systems, control and configuration checks, and redundant control schemes. The effectiveness of the safety features in satisfying the safety requirements is verified using a Failure Modes and Effects Analysis. This technique can point out areas of weakness in the safety design as well as areas where unnecessary redundancy may reduce the system reliability

  10. A Robotic System for Inspection and Repair of Small Diameter Pipelines

    Directory of Open Access Journals (Sweden)

    S. A. Vorotnikov

    2015-01-01

    Full Text Available This paper deals with the construction and control system of miniature robotic system that is designed to move and make inspection inside small diameter pipelines. It gives an overview of ways to move a microsize robotic system inside the small diameter pipe. The proposed design consists of information module and three traction modules, including modules for fixing, linear moving and angular positioning. This paper describes the design and operation of a robotic system and its different modules. Also are shown the structure of the robot control system, the basic calculations of construct and some simulation results of the individual modules of the robot.

  11. Robotic radical perineal cystectomy and extended pelvic lymphadenectomy: initial investigation using a purpose-built single-port robotic system.

    Science.gov (United States)

    Maurice, Matthew J; Kaouk, Jihad H

    2017-12-01

    To assess the feasibility of radical perineal cystoprostatectomy using the latest generation purpose-built single-port robotic surgical system. In two male cadavers the da Vinci ® SP1098 Surgical System (Intuitive Surgical, Sunnyvale, CA, USA) was used to perform radical perineal cystoprostatectomy and bilateral extended pelvic lymph node dissection (ePLND). New features in this model include enhanced high-definition three-dimensional optics, improved instrument manoeuvrability, and a real-time instrument tracking and guidance system. The surgery was accomplished through a 3-cm perineal incision via a novel robotic single-port system, which accommodates three double-jointed articulating robotic instruments, an articulating camera, and an accessory laparoscopic instrument. The primary outcomes were technical feasibility, intraoperative complications, and total robotic operative time. The cases were completed successfully without conversion. There were no accidental punctures or lacerations. The robotic operative times were 197 and 202 min. In this preclinical model, robotic radical perineal cystoprostatectomy and ePLND was feasible using the SP1098 robotic platform. Further investigation is needed to assess the feasibility of urinary diversion using this novel approach and new technology. © 2017 The Authors BJU International © 2017 BJU International Published by John Wiley & Sons Ltd.

  12. Behaviour based Mobile Robot Navigation Technique using AI System: Experimental Investigation on Active Media Pioneer Robot

    Directory of Open Access Journals (Sweden)

    S. Parasuraman, V.Ganapathy

    2012-10-01

    Full Text Available A key issue in the research of an autonomous robot is the design and development of the navigation technique that enables the robot to navigate in a real world environment. In this research, the issues investigated and methodologies established include (a Designing of the individual behavior and behavior rule selection using Alpha level fuzzy logic system  (b Designing of the controller, which maps the sensors input to the motor output through model based Fuzzy Logic Inference System and (c Formulation of the decision-making process by using Alpha-level fuzzy logic system. The proposed method is applied to Active Media Pioneer Robot and the results are discussed and compared with most accepted methods. This approach provides a formal methodology for representing and implementing the human expert heuristic knowledge and perception-based action in mobile robot navigation. In this approach, the operational strategies of the human expert driver are transferred via fuzzy logic to the robot navigation in the form of a set of simple conditional statements composed of linguistic variables.Keywards: Mobile robot, behavior based control, fuzzy logic, alpha level fuzzy logic, obstacle avoidance behavior and goal seek behavior

  13. Integrating Robot Task Planning into Off-Line Programming Systems

    DEFF Research Database (Denmark)

    Sun, Hongyan; Kroszynski, Uri

    1988-01-01

    a system architecture for integrated robot task planning. It identifies and describes the components considered necessary for implementation. The focus is on functionality of these elements as well as on the information flow. A pilot implementation of such an integrated system architecture for a robot......The addition of robot task planning in off-line programming systems aims at improving the capability of current state-of-the-art commercially available off-line programming systems, by integrating modeling, task planning, programming and simulation together under one platform. This article proposes...... assembly task is discussed....

  14. Developing and modeling of voice control system for prosthetic robot arm in medical systems

    Directory of Open Access Journals (Sweden)

    Koksal Gundogdu

    2018-04-01

    Full Text Available In parallel with the development of technology, various control methods are also developed. Voice control system is one of these control methods. In this study, an effective modelling upon mathematical models used in the literature is performed, and a voice control system is developed in order to control prosthetic robot arms. The developed control system has been applied on four-jointed RRRR robot arm. Implementation tests were performed on the designed system. As a result of the tests; it has been observed that the technique utilized in our system achieves about 11% more efficient voice recognition than currently used techniques in the literature. With the improved mathematical modelling, it has been shown that voice commands could be effectively used for controlling the prosthetic robot arm. Keywords: Voice recognition model, Voice control, Prosthetic robot arm, Robotic control, Forward kinematic

  15. A Novel Docking System for Modular Self-Reconfigurable Robots

    Directory of Open Access Journals (Sweden)

    Tan Zhang

    2017-10-01

    Full Text Available Existing self-reconfigurable robots achieve connections and disconnections by a separate drive of the docking system. In this paper, we present a new docking system with which the connections and disconnections are driven by locomotion actuators, without the need for a separate drive, which reduces the weight and the complexity of the modules. This self-reconfigurable robot consists of two types of fundamental modules, i.e., active and passive modules. By the docking system, two types of connections are formed with the fundamental modules, and the docking and undocking actions are achieved through simple control with less sensory feedback. This paper describes the design of the robotic modules, the docking system, the docking process, and the docking force analysis. An experiment is performed to demonstrate the self-reconfigurable robot with the docking system.

  16. Technology and costs for dismantling a Swedish nuclear power plant

    International Nuclear Information System (INIS)

    1979-10-01

    Various estimates concerning the costs of decommissioning a redundant nuclear power reactor to the green fields state are given in the literature. The purpose of this study is to provide background material for the Swedish nuclear power utilities to estimate the costs and time required to dismantle an ASEA-ATOM Boiling Water Reactor. The units Oskarshamn II and Barsebeck 1, both with an installed capacity of approximately 600 MW, serve as reference plants. The time of operation before final shutdown is assumed to be 40 years. Dismantling operations are initiated one year after shutdown. When the dismantling of the plant is finished, the site is to be released for unrestricted use. The costs for dismantling and subsequent final disposal of the radioactive waste are estimated at approximately SEK 500 million (approximately US dollars 120 million) in terms of 1979 prices. The sum includes 25% contingency. The dismantling cost is equivalent to 10-15% of the installation cost of an equivalent new nuclear power plant. The exact percentage is dependent on the interest rate during the construction period. It is shown in the study that a total dismantling can be accomplished in less than five years. This report is a compilation of studies performed by ASEA-ATOM and VBB based on premises given by KBS. The reports from these studies are presented in appendices. (Auth.)

  17. Robotic Materials Handling in Space: Mechanical Design of the Robot Operated Materials Processing System HitchHiker Experiment

    Science.gov (United States)

    Voellmer, George

    1997-01-01

    The Goddard Space Flight Center has developed the Robot Operated Materials Processing System (ROMPS) that flew aboard STS-64 in September, 1994. The ROMPS robot transported pallets containing wafers of different materials from their storage racks to a furnace for thermal processing. A system of tapered guides and compliant springs was designed to deal with the potential misalignments. The robot and all the sample pallets were locked down for launch and landing. The design of the passive lockdown system, and the interplay between it and the alignment system are presented.

  18. An Interactive Astronaut-Robot System with Gesture Control

    Directory of Open Access Journals (Sweden)

    Jinguo Liu

    2016-01-01

    Full Text Available Human-robot interaction (HRI plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM is employed to recognize hand gestures and particle swarm optimization (PSO algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL have been selected and used to test and validate the performance of the proposed system.

  19. Data analysis on work activities in dismantling of Japan Power Demonstration Reactor (JPDR). Contract research

    International Nuclear Information System (INIS)

    Shiraishi, Kunio; Sukegawa, Takenori; Yanagihara, Satoshi

    1998-03-01

    The safe dismantling of a retired nuclear power plant was demonstrated by completion of dismantling activities for the Japan Power Demonstration Reactor (JPDR), March, 1996, which had been conducted since 1986. This project was a flag ship project for dismantling of nuclear power plants in Japan, aiming at demonstrating an applicability of developed dismantling techniques in actual dismantling work, developing database on work activities as well as dismantling of components and structures. Various data on dismantling activities were therefore systematically collected and these were accumulated on computer files to build the decommissioning database; dismantling activities were characterized by analyzing the data. The data analysis resulted in producing general forms such as unit activity factors, for example, manpower need per unit weight of component to be dismantled, and simple arithmetic forms for forecasting of project management data to be applied to planning another dismantling project through the evaluation for general use of the analyzed data. The results of data analysis could be usefully applied to planning of future decommissioning of commercial nuclear power plants in Japan. This report describes the data collection and analysis on the JPDR dismantling activities. (author)

  20. Robotics Technology Crosscutting Program. Technology summary

    International Nuclear Information System (INIS)

    1995-06-01

    The Robotics Technology Development Program (RTDP) is a needs-driven effort. A length series of presentations and discussions at DOE sites considered critical to DOE's Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the resulting robotics needs assessment revealed several common threads running through the sites: Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination and Dismantlement (D and D). The RTDP Group also realized that some of the technology development in these four areas had common (Cross Cutting-CC) needs, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) process urged an additional organizational breakdown between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). These factors lead to the formation of the fifth application area for Crosscutting and Advanced Technology (CC and AT) development. The RTDP is thus organized around these application areas -- TWR, CAA, MWO, D and D, and CC and AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas

  1. Robotics Technology Crosscutting Program. Technology summary

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-06-01

    The Robotics Technology Development Program (RTDP) is a needs-driven effort. A length series of presentations and discussions at DOE sites considered critical to DOE`s Environmental Restoration and Waste Management (EM) Programs resulted in a clear understanding of needed robotics applications toward resolving definitive problems at the sites. A detailed analysis of the resulting robotics needs assessment revealed several common threads running through the sites: Tank Waste Retrieval (TWR), Contaminant Analysis Automation (CAA), Mixed Waste Operations (MWO), and Decontamination and Dismantlement (D and D). The RTDP Group also realized that some of the technology development in these four areas had common (Cross Cutting-CC) needs, for example, computer control and sensor interface protocols. Further, the OTD approach to the Research, Development, Demonstration, Testing, and Evaluation (RDDT and E) process urged an additional organizational breakdown between short-term (1--3 years) and long-term (3--5 years) efforts (Advanced Technology-AT). These factors lead to the formation of the fifth application area for Crosscutting and Advanced Technology (CC and AT) development. The RTDP is thus organized around these application areas -- TWR, CAA, MWO, D and D, and CC and AT -- with the first four developing short-term applied robotics. An RTDP Five-Year Plan was developed for organizing the Program to meet the needs in these application areas.

  2. A Multimodal Emotion Detection System during Human-Robot Interaction

    Science.gov (United States)

    Alonso-Martín, Fernando; Malfaz, María; Sequeira, João; Gorostiza, Javier F.; Salichs, Miguel A.

    2013-01-01

    In this paper, a multimodal user-emotion detection system for social robots is presented. This system is intended to be used during human–robot interaction, and it is integrated as part of the overall interaction system of the robot: the Robotics Dialog System (RDS). Two modes are used to detect emotions: the voice and face expression analysis. In order to analyze the voice of the user, a new component has been developed: Gender and Emotion Voice Analysis (GEVA), which is written using the Chuck language. For emotion detection in facial expressions, the system, Gender and Emotion Facial Analysis (GEFA), has been also developed. This last system integrates two third-party solutions: Sophisticated High-speed Object Recognition Engine (SHORE) and Computer Expression Recognition Toolbox (CERT). Once these new components (GEVA and GEFA) give their results, a decision rule is applied in order to combine the information given by both of them. The result of this rule, the detected emotion, is integrated into the dialog system through communicative acts. Hence, each communicative act gives, among other things, the detected emotion of the user to the RDS so it can adapt its strategy in order to get a greater satisfaction degree during the human–robot dialog. Each of the new components, GEVA and GEFA, can also be used individually. Moreover, they are integrated with the robotic control platform ROS (Robot Operating System). Several experiments with real users were performed to determine the accuracy of each component and to set the final decision rule. The results obtained from applying this decision rule in these experiments show a high success rate in automatic user emotion recognition, improving the results given by the two information channels (audio and visual) separately. PMID:24240598

  3. IMPERA: Integrated Mission Planning for Multi-Robot Systems

    Directory of Open Access Journals (Sweden)

    Daniel Saur

    2015-10-01

    Full Text Available This paper presents the results of the project IMPERA (Integrated Mission Planning for Distributed Robot Systems. The goal of IMPERA was to realize an extraterrestrial exploration scenario using a heterogeneous multi-robot system. The main challenge was the development of a multi-robot planning and plan execution architecture. The robot team consists of three heterogeneous robots, which have to explore an unknown environment and collect lunar drill samples. The team activities are described using the language ALICA (A Language for Interactive Agents. Furthermore, we use the mission planning system pRoPhEt MAS (Reactive Planning Engine for Multi-Agent Systems to provide an intuitive interface to generate team activities. Therefore, we define the basic skills of our team with ALICA and define the desired goal states by using a logic description. Based on the skills, pRoPhEt MAS creates a valid ALICA plan, which will be executed by the team. The paper describes the basic components for communication, coordinated exploration, perception and object transportation. Finally, we evaluate the planning engine pRoPhEt MAS in the IMPERA scenario. In addition, we present further evaluation of pRoPhEt MAS in more dynamic environments.

  4. Decommissioning of the NPP A-1 heavy water management system

    International Nuclear Information System (INIS)

    Medved, J.; Rezbarik, J.; Vargovcik, L.; Vykukel, I.

    2015-01-01

    The paper deals with experience and techniques in the application of decontamination technology and remotely controlled robotic devices for the decontamination and dismantling of the heavy water management system during undergoing decommissioning process of the A-1 NPP as well as treatment of arising liquid waste All of these activities are characterized by high level of radioactivity and contamination. (authors)

  5. SRAO: the first southern robotic AO system

    Science.gov (United States)

    Law, Nicholas M.; Ziegler, Carl; Tokovinin, Andrei

    2016-08-01

    We present plans for SRAO, the first Southern Robotic AO system. SRAO will use AO-assisted speckle imaging and Robo-AO-heritage high efficiency observing to confirm and characterize thousands of planet candidates produced by major new transit surveys like TESS, and is the first AO system to be capable of building a comprehensive several-thousand-target multiplicity survey at sub-AU scales across the main sequence. We will also describe results from Robo-AO, the first robotic LGS-AO system. Robo-AO has observed tens of thousands of Northern targets, often using a similar speckle or Lucky-Imaging assisted mode. SRAO will be a moderate-order natural-guide-star adaptive optics system which uses an innovative photoncounting wavefront sensor and EMCCD speckle-imaging camera to guide on faint stars with the 4.1m SOAR telescope. The system will produce diffraction-limited imaging in the NIR on targets as faint as mν = 16. In AO-assisted speckle imaging mode the system will attain the 30-mas visible diffraction limit on targets at least as faint as mν = 17. The system will be the first Southern hemisphere robotic adaptive optics system, with overheads an order of magnitude smaller than comparable systems. Using Robo-AO's proven robotic AO software, SRAO will be capable of observing overheads on sub-minute scales, allowing the observation of at least 200 targets per night. SRAO will attain three times the angular resolution of the Palomar Robo-AO system in the visible.

  6. An advanced rehabilitation robotic system for augmenting healthcare.

    Science.gov (United States)

    Hu, John; Lim, Yi-Je; Ding, Ye; Paluska, Daniel; Solochek, Aaron; Laffery, David; Bonato, Paolo; Marchessault, Ronald

    2011-01-01

    Emerging technologies such as rehabilitation robots (RehaBot) for retraining upper and lower limb functions have shown to carry tremendous potential to improve rehabilitation outcomes. Hstar Technologies is developing a revolutionary rehabilitation robot system enhancing healthcare quality for patients with neurological and muscular injuries or functional impairments. The design of RehaBot is a safe and robust system that can be run at a rehabilitation hospital under the direct monitoring and interactive supervision control and at a remote site via telepresence operation control. RehaBot has a wearable robotic structure design like exoskeleton, which employs a unique robotic actuation--Series Elastic Actuator. These electric actuators provide robotic structural compliance, safety, flexibility, and required strength for upper extremity dexterous manipulation rehabilitation training. RehaBot also features a novel non-treadmill paddle platform capable of haptics feedback locomotion rehabilitation training. In this paper, we concern mainly about the motor incomplete patient and rehabilitation applications.

  7. Evaluation of modular robot system for maintenance tasks in hot cell

    Energy Technology Data Exchange (ETDEWEB)

    Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

    2014-10-15

    Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

  8. Advanced mechanics in robotic systems

    CERN Document Server

    Nava Rodríguez, Nestor Eduardo

    2011-01-01

    Illustrates original and ambitious mechanical designs and techniques for the development of new robot prototypes Includes numerous figures, tables and flow charts Discusses relevant applications in robotics fields such as humanoid robots, robotic hands, mobile robots, parallel manipulators and human-centred robots

  9. Task path planning, scheduling and learning for free-ranging robot systems

    Science.gov (United States)

    Wakefield, G. Steve

    1987-01-01

    The development of robotics applications for space operations is often restricted by the limited movement available to guided robots. Free ranging robots can offer greater flexibility than physically guided robots in these applications. Presented here is an object oriented approach to path planning and task scheduling for free-ranging robots that allows the dynamic determination of paths based on the current environment. The system also provides task learning for repetitive jobs. This approach provides a basis for the design of free-ranging robot systems which are adaptable to various environments and tasks.

  10. Transparency in nuclear warhead dismantlement -- Limited chain of custody and warhead signatures

    International Nuclear Information System (INIS)

    Kiernan, G.; Percival, M.; Bratcher, L.

    1996-01-01

    The goal of the US Safeguards, Transparency, and Irreversibility (STI) initiative is the development of a series of transparency measures that provide confidence that nuclear warheads are actually being dismantled and that the fissile material being removed from these dismantled weapons is not recycled into new production. A limited chain of custody (LCC) would follow a warhead from the time it is declared excess until it is actually dismantled and the fissile materials are stored. Measurement of warhead signatures is an option in LCC using radiation detection techniques to confirm that a warhead has been dismantled, without intrusive inspections within the dismantlement facility. This paper discusses LCC and warhead signatures as well as indicate first results of laboratory measurements related to warhead signatures

  11. Coordinated robotic system for civil structural health monitoring

    Directory of Open Access Journals (Sweden)

    Qidwai Uvais

    2017-01-01

    Full Text Available With the recent advances in sensors, robotics, unmanned aerial vehicles, communication, and information technologies, it is now feasible to move towards the vision of ubiquitous cities, where virtually everything throughout the city is linked to an information system through technologies such as wireless networking and radio-frequency identification (RFID tags, to provide systematic and more efficient management of urban systems, including civil and mechanical infrastructure monitoring, to achieve the goal of resilient and sustainable societies. In this proposed system, unmanned aerial vehicle (UAVs is used to ascertain the coarse defect signature using panoramic imaging. This involves image stitching and registration so that a complete view of the surface is seen with reference to a common reference or origin point. Thereafter, crack verification and localization has been done using the magnetic flux leakage (MFL approach which has been performed with the help of a coordinated robotic system. In which the first robot is placed at the top of the structure whereas the second robot is equipped with the designed MFL sensory system. With the initial findings, the proposed system identifies and localize the crack in the given structure.

  12. Organizational System for the LEGO WeDo 2.0 Robotics System

    Science.gov (United States)

    Dolecheck, Suzann Hagan; Ewers, Timothy

    2017-01-01

    In this article, we explain an organizational system for the new LEGO Education WeDo 2.0 Core Set used in 4-H robotics; in school enrichment, afterschool, and other youth robotics programs; and by hobbyists. The system presented is for organizing WeDo parts into a translucent parts tray that includes part names and numbers. The article provides…

  13. A robotic system for researching social integration in honeybees.

    Directory of Open Access Journals (Sweden)

    Karlo Griparić

    Full Text Available In this paper, we present a novel robotic system developed for researching collective social mechanisms in a biohybrid society of robots and honeybees. The potential for distributed coordination, as observed in nature in many different animal species, has caused an increased interest in collective behaviour research in recent years because of its applicability to a broad spectrum of technical systems requiring robust multi-agent control. One of the main problems is understanding the mechanisms driving the emergence of collective behaviour of social animals. With the aim of deepening the knowledge in this field, we have designed a multi-robot system capable of interacting with honeybees within an experimental arena. The final product, stationary autonomous robot units, designed by specificaly considering the physical, sensorimotor and behavioral characteristics of the honeybees (lat. Apis mallifera, are equipped with sensing, actuating, computation, and communication capabilities that enable the measurement of relevant environmental states, such as honeybee presence, and adequate response to the measurements by generating heat, vibration and airflow. The coordination among robots in the developed system is established using distributed controllers. The cooperation between the two different types of collective systems is realized by means of a consensus algorithm, enabling the honeybees and the robots to achieve a common objective. Presented results, obtained within ASSISIbf project, show successful cooperation indicating its potential for future applications.

  14. A robotic system for researching social integration in honeybees.

    Science.gov (United States)

    Griparić, Karlo; Haus, Tomislav; Miklić, Damjan; Polić, Marsela; Bogdan, Stjepan

    2017-01-01

    In this paper, we present a novel robotic system developed for researching collective social mechanisms in a biohybrid society of robots and honeybees. The potential for distributed coordination, as observed in nature in many different animal species, has caused an increased interest in collective behaviour research in recent years because of its applicability to a broad spectrum of technical systems requiring robust multi-agent control. One of the main problems is understanding the mechanisms driving the emergence of collective behaviour of social animals. With the aim of deepening the knowledge in this field, we have designed a multi-robot system capable of interacting with honeybees within an experimental arena. The final product, stationary autonomous robot units, designed by specificaly considering the physical, sensorimotor and behavioral characteristics of the honeybees (lat. Apis mallifera), are equipped with sensing, actuating, computation, and communication capabilities that enable the measurement of relevant environmental states, such as honeybee presence, and adequate response to the measurements by generating heat, vibration and airflow. The coordination among robots in the developed system is established using distributed controllers. The cooperation between the two different types of collective systems is realized by means of a consensus algorithm, enabling the honeybees and the robots to achieve a common objective. Presented results, obtained within ASSISIbf project, show successful cooperation indicating its potential for future applications.

  15. Intelligent Robot-assisted Humanitarian Search and Rescue System

    Directory of Open Access Journals (Sweden)

    Henry Y. K. Lau

    2009-11-01

    Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

  16. Intelligent Robot-Assisted Humanitarian Search and Rescue System

    Directory of Open Access Journals (Sweden)

    Albert W. Y. Ko

    2009-06-01

    Full Text Available The unprecedented scale and number of natural and man-made disasters in the past decade has urged international emergency search and rescue communities to seek for novel technology to enhance operation efficiency. Tele-operated search and rescue robots that can navigate deep into rubble to search for victims and to transfer critical field data back to the control console has gained much interest among emergency response institutions. In response to this need, a low-cost autonomous mini robot equipped with thermal sensor, accelerometer, sonar, pin-hole camera, microphone, ultra-bright LED and wireless communication module is developed to study the control of a group of decentralized mini search and rescue robots. The robot can navigate autonomously between voids to look for living body heat and can send back audio and video information to allow the operator to determine if the found object is a living human. This paper introduces the design and control of a low-cost robotic search and rescue system based on an immuno control framework developed for controlling decentralized systems. Design and development of the physical prototype and the immunity-based control system are described in this paper.

  17. Model-based systems engineering to design collaborative robotics applications

    NARCIS (Netherlands)

    Hernandez Corbato, Carlos; Fernandez-Sanchez, Jose Luis; Rassa, Bob; Carbone, Paolo

    2017-01-01

    Novel robot technologies are becoming available to automate more complex tasks, more flexibly, and collaborating with humans. Methods and tools are needed in the automation and robotics industry to develop and integrate this new breed of robotic systems. In this paper, the ISE&PPOOA

  18. Audio-Visual Perception System for a Humanoid Robotic Head

    Directory of Open Access Journals (Sweden)

    Raquel Viciana-Abad

    2014-05-01

    Full Text Available One of the main issues within the field of social robotics is to endow robots with the ability to direct attention to people with whom they are interacting. Different approaches follow bio-inspired mechanisms, merging audio and visual cues to localize a person using multiple sensors. However, most of these fusion mechanisms have been used in fixed systems, such as those used in video-conference rooms, and thus, they may incur difficulties when constrained to the sensors with which a robot can be equipped. Besides, within the scope of interactive autonomous robots, there is a lack in terms of evaluating the benefits of audio-visual attention mechanisms, compared to only audio or visual approaches, in real scenarios. Most of the tests conducted have been within controlled environments, at short distances and/or with off-line performance measurements. With the goal of demonstrating the benefit of fusing sensory information with a Bayes inference for interactive robotics, this paper presents a system for localizing a person by processing visual and audio data. Moreover, the performance of this system is evaluated and compared via considering the technical limitations of unimodal systems. The experiments show the promise of the proposed approach for the proactive detection and tracking of speakers in a human-robot interactive framework.

  19. Robots, systems, and methods for hazard evaluation and visualization

    Science.gov (United States)

    Nielsen, Curtis W.; Bruemmer, David J.; Walton, Miles C.; Hartley, Robert S.; Gertman, David I.; Kinoshita, Robert A.; Whetten, Jonathan

    2013-01-15

    A robot includes a hazard sensor, a locomotor, and a system controller. The robot senses a hazard intensity at a location of the robot, moves to a new location in response to the hazard intensity, and autonomously repeats the sensing and moving to determine multiple hazard levels at multiple locations. The robot may also include a communicator to communicate the multiple hazard levels to a remote controller. The remote controller includes a communicator for sending user commands to the robot and receiving the hazard levels from the robot. A graphical user interface displays an environment map of the environment proximate the robot and a scale for indicating a hazard intensity. A hazard indicator corresponds to a robot position in the environment map and graphically indicates the hazard intensity at the robot position relative to the scale.

  20. Dismantling large components at the Jose-Cabrera NPP (CNJC) in Spain

    International Nuclear Information System (INIS)

    Santiago, Juan Luis

    2012-01-01

    Located in central Spain, near Madrid, the Jose-Cabrera NPP (also known as Zorita) is the first PWR to be dismantled in Spain. The unit is a one-loop Westinghouse PWR, with a capacity of 150 MW. The plant was shut down in 1996 and ENRESA (Empresa Nacional de Residuos Radioactivos) has decided its prompt decommissioning, starting in 2010. In preparation for decommissioning, a full system decontamination (FSD) of the whole reactor cooling system (including the reactor vessel in the flow path) was carried out in 2006-7. The large components to be dismantled include: the reactor pressure vessel (RPV) and the internals; the vessel head; the SG; the pressurizer and the surge line; the reactor coolant pump, and the primary loop piping The objective of the project is not only to ensure the safe and efficient dismantling of those large components, but also to gain experience and to learn lessons to be applied during the future decommissioning and dismantling of the remaining six operating PWRs in Spain, whose operational lives are currently planned to end between 2021 and 2028. ENRESA has defined a waste-management policy for decommissioning activities, which includes Waste-management routes and optimisation. A case study describes the results obtained by ENRESA in the specific case of CNJC large components (including the RPV) dismantling project: Removal and conditioning of large components as a single piece is not considered a viable option. Segmentation therefore is required and 2 options have been analysed: large pieces for disposal in a large container and small pieces for disposal in approved concrete packages (CE-2a and the smaller CE-2b). The use of the CE-2b package is a feasible option and is easy to implement as a logical extension from the CE-2a. The use of the CE-2b package results in an important reduction in the total volume of final waste packages and does not require, in itself, any changes in the current waste handling and kinematics. The large size

  1. Method and System for Controlling a Dexterous Robot Execution Sequence Using State Classification

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Platt, Robert J., Jr. (Inventor); Quillin, Nathaniel (Inventor); Permenter, Frank Noble (Inventor); Pfeiffer, Joseph (Inventor)

    2014-01-01

    A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.

  2. Safety assessment of a robotic system handling nuclear material

    International Nuclear Information System (INIS)

    Atcitty, C.B.; Robinson, D.G.

    1996-01-01

    This paper outlines the use of a Failure Modes and Effects Analysis for the safety assessment of a robotic system being developed at Sandia National Laboratories. The robotic system, The Weigh and Leak Check System, is to replace a manual process at the Department of Energy facility at Pantex by which nuclear material is inspected for weight and leakage. Failure Modes and Effects Analyses were completed for the robotics process to ensure that safety goals for the system had been meet. These analyses showed that the risks to people and the internal and external environment were acceptable

  3. A Fast Vision System for Soccer Robot

    Directory of Open Access Journals (Sweden)

    Tianwu Yang

    2012-01-01

    Full Text Available This paper proposes a fast colour-based object recognition and localization for soccer robots. The traditional HSL colour model is modified for better colour segmentation and edge detection in a colour coded environment. The object recognition is based on only the edge pixels to speed up the computation. The edge pixels are detected by intelligently scanning a small part of whole image pixels which is distributed over the image. A fast method for line and circle centre detection is also discussed. For object localization, 26 key points are defined on the soccer field. While two or more key points can be seen from the robot camera view, the three rotation angles are adjusted to achieve a precise localization of robots and other objects. If no key point is detected, the robot position is estimated according to the history of robot movement and the feedback from the motors and sensors. The experiments on NAO and RoboErectus teen-size humanoid robots show that the proposed vision system is robust and accurate under different lighting conditions and can effectively and precisely locate robots and other objects.

  4. Artificial intelligence and information-control systems of robots - 87

    International Nuclear Information System (INIS)

    Plander, I.

    1987-01-01

    Independent research areas of artificial intelligence represent the following problems: automatic problem solving and new knowledge discovering, automatic program synthesis, natural language, picture and scene recognition and understanding, intelligent control systems of robots equipped with sensoric subsystems, dialogue of two knowledge systems, as well as studying and modelling higher artificial intelligence attributes, such as emotionality and personality. The 4th Conference draws on the problems treated at the preceding Conferences, and presents the most recent knowledge on the following topics: theoretical problems of artificial intelligence, knowledge-based systems, expert systems, perception and pattern recognition, robotics, intelligent computer-aided design, special-purpose computer systems for artificial intelligence and robotics

  5. Interventional robotic systems: Applications and technology state-of-the-art

    Science.gov (United States)

    CLEARY, KEVIN; MELZER, ANDREAS; WATSON, VANCE; KRONREIF, GERNOT; STOIANOVICI, DAN

    2011-01-01

    Many different robotic systems have been developed for invasive medical procedures. In this article we will focus on robotic systems for image-guided interventions such as biopsy of suspicious lesions, interstitial tumor treatment, or needle placement for spinal blocks and neurolysis. Medical robotics is a young and evolving field and the ultimate role of these systems has yet to be determined. This paper presents four interventional robotics systems designed to work with MRI, CT, fluoroscopy, and ultrasound imaging devices. The details of each system are given along with any phantom, animal, or human trials. The systems include the AcuBot for active needle insertion under CT or fluoroscopy, the B-Rob systems for needle placement using CT or ultrasound, the INNOMOTION for MRI and CT interventions, and the MRBot for MRI procedures. Following these descriptions, the technology issues of image compatibility, registration, patient movement and respiration, force feedback, and control mode are briefly discussed. It is our belief that robotic systems will be an important part of future interventions, but more research and clinical trials are needed. The possibility of performing new clinical procedures that the human cannot achieve remains an ultimate goal for medical robotics. Engineers and physicians should work together to create and validate these systems for the benefits of patients everywhere. PMID:16754193

  6. Chooz A: a model for the dismantling of water-cooled reactors

    International Nuclear Information System (INIS)

    Anon.

    2017-01-01

    The specificity of Chooz-A, the first French pressurized water reactor (PWR), is that the reactor and its major components (pumps, exchangers and cooling circuits) are installed in 2 caves dug out in a hill slope. Chooz-A was operating from 1967 to 1991, in 1993 the fuel was removed and in 2007 EDF received the authorization to dismantle the reactor. In 2012, EDF completed the dismantling of the cave containing the elements of the cooling circuit, a cornerstone was the removing of the four 14 m high steam generators. The dismantling of the pressure vessel began in march 2017, it is the same tools and the same processes that were used for the dismantling of the pressure vessel of the Zorita plant (Spain) in 2016. The end of the Chooz-A dismantling is expected in 2022. The feedback experience will help to standardize practices for the French fleet of PWRs. (A.C.)

  7. Human likeness: cognitive and affective factors affecting adoption of robot-assisted learning systems

    Science.gov (United States)

    Yoo, Hosun; Kwon, Ohbyung; Lee, Namyeon

    2016-07-01

    With advances in robot technology, interest in robotic e-learning systems has increased. In some laboratories, experiments are being conducted with humanoid robots as artificial tutors because of their likeness to humans, the rich possibilities of using this type of media, and the multimodal interaction capabilities of these robots. The robot-assisted learning system, a special type of e-learning system, aims to increase the learner's concentration, pleasure, and learning performance dramatically. However, very few empirical studies have examined the effect on learning performance of incorporating humanoid robot technology into e-learning systems or people's willingness to accept or adopt robot-assisted learning systems. In particular, human likeness, the essential characteristic of humanoid robots as compared with conventional e-learning systems, has not been discussed in a theoretical context. Hence, the purpose of this study is to propose a theoretical model to explain the process of adoption of robot-assisted learning systems. In the proposed model, human likeness is conceptualized as a combination of media richness, multimodal interaction capabilities, and para-social relationships; these factors are considered as possible determinants of the degree to which human cognition and affection are related to the adoption of robot-assisted learning systems.

  8. A new CT-aided robotic stereotaxis system

    International Nuclear Information System (INIS)

    Shao, H.M.; Chen, J.Y.; Truong, T.K.; Reed, I.S.

    1985-01-01

    In this paper, it is shown that a robot arm may be programmed to replace the stereotaxic frame for trajectory guidance. Since the robot is driven by a computer, it offers substantial flexibility, speed and accuracy advantages over the frame. It allows a surgeon to conveniently manipulate the probe trajectory in a variety of possible directions. As a consequence, even more sophisticated stereotaxic procedures are now possible. An experimental robotic stereotaxic system is now in operation. It is described in detail in this paper

  9. Calibration technology in application of robot-laser scanning system

    Science.gov (United States)

    Ren, YongJie; Yin, ShiBin; Zhu, JiGui

    2012-11-01

    A system composed of laser sensor and 6-DOF industrial robot is proposed to obtain complete three-dimensional (3-D) information of the object surface. Suitable for the different combining ways of laser sensor and robot, a new method to calibrate the position and pose between sensor and robot is presented. By using a standard sphere with known radius as a reference tool, the rotation and translation matrices between the laser sensor and robot are computed, respectively in two steps, so that many unstable factors introduced in conventional optimization methods can be avoided. The experimental results show that the accuracy of the proposed calibration method can be achieved up to 0.062 mm. The calibration method is also implemented into the automated robot scanning system to reconstruct a car door panel.

  10. Essential technologies for developing human and robot collaborative system

    International Nuclear Information System (INIS)

    Ishikawa, Nobuyuki; Suzuki, Katsuo

    1997-10-01

    In this study, we aim to develop a concept of new robot system, i.e., 'human and robot collaborative system', for the patrol of nuclear power plants. This paper deals with the two essential technologies developed for the system. One is the autonomous navigation program with human intervention function which is indispensable for human and robot collaboration. The other is the position estimation method by using gyroscope and TV image to make the estimation accuracy much higher for safe navigation. Feasibility of the position estimation method is evaluated by experiment and numerical simulation. (author)

  11. Development of Pneumatic Robot Hand and Construction of Master-Slave System

    Science.gov (United States)

    Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

    Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

  12. Development of Digital Mock-Up for the Assessment of Dismantling Scenarios

    International Nuclear Information System (INIS)

    Kim, Sung-Kyun; Park, Hee-Sung; Lee, Kune-Woo; Jung, Chong-Hun

    2008-01-01

    As the number of superannuated research reactors and nuclear power plants increase, dismantling nuclear power facilities has become a big issue. However, decommissioning a nuclear facility is still a costly and possibly hazardous task. So prior to an actual decommission, what should be done foremost is to establish a proper procedure. Due to the fact that a significant difference in cost, exposure to a radiation, and safety might occur, a proper procedure is imperative for the entire engineering process. The purpose of this paper is to develop a system for evaluating the decommissioning scenarios logically and systematically. So a digital mockup system with functions such as a dismantling schedule, decommissioning costs, wastes, worker's exposure dose, and a radiation distribution was developed. Also on the basis of the quantitative information calculated from a DMU system and the data evaluated by decommissioning experts about qualitatively evaluating the items, the best decommissioning scenarios were established by using the analytic hierarchy process (AHP) method. Finally, the DMU was implemented in the thermal column of KRR-1 and adequate scenarios were provided after comparing and analyzing the two scenarios. In this paper, we developed the virtual environment of KRR-1 by using computer graphic technology and simulating the dismantling processes. The data-computing modules were also developed for quantitatively comparing the decommissioning scenarios. The decommissioning DMU system was integrated with both the VE system and the data-computing modules. In addition, we presented a decision-making method for selecting the best decommissioning scenario through the AHP. So the scenarios can be evaluated logically and quantitatively through the decommissioning DMU. As an implementation of the AHP, the plasma cutting scenario and the nibbler cutting scenario of the thermal column were prioritized. The fact that the plasma cutting scenario ranked the better than the

  13. A new method to evaluate human-robot system performance

    Science.gov (United States)

    Rodriguez, G.; Weisbin, C. R.

    2003-01-01

    One of the key issues in space exploration is that of deciding what space tasks are best done with humans, with robots, or a suitable combination of each. In general, human and robot skills are complementary. Humans provide as yet unmatched capabilities to perceive, think, and act when faced with anomalies and unforeseen events, but there can be huge potential risks to human safety in getting these benefits. Robots provide complementary skills in being able to work in extremely risky environments, but their ability to perceive, think, and act by themselves is currently not error-free, although these capabilities are continually improving with the emergence of new technologies. Substantial past experience validates these generally qualitative notions. However, there is a need for more rigorously systematic evaluation of human and robot roles, in order to optimize the design and performance of human-robot system architectures using well-defined performance evaluation metrics. This article summarizes a new analytical method to conduct such quantitative evaluations. While the article focuses on evaluating human-robot systems, the method is generally applicable to a much broader class of systems whose performance needs to be evaluated.

  14. Robot path planning using expert systems and machine vision

    Science.gov (United States)

    Malone, Denis E.; Friedrich, Werner E.

    1992-02-01

    This paper describes a system developed for the robotic processing of naturally variable products. In order to plan the robot motion path it was necessary to use a sensor system, in this case a machine vision system, to observe the variations occurring in workpieces and interpret this with a knowledge based expert system. The knowledge base was acquired by carrying out an in-depth study of the product using examination procedures not available in the robotic workplace and relates the nature of the required path to the information obtainable from the machine vision system. The practical application of this system to the processing of fish fillets is described and used to illustrate the techniques.

  15. S.T.M.I.: Several years of experience in nuclear plant dismantling

    International Nuclear Information System (INIS)

    Moreau, J.C.

    1986-01-01

    Since 1977, when STMI performed its first dismantling operation, the Company appreciably improved in that field through important operations: the dismantling of the calciothermy and fluoration metal Pu preparation facility, in La Hague reprocessing plant, the dismantling of the slag treatment chain, associated to calciothermy and fluoration processes, in La Hague reprocessing plant, the cleaning of EL4 cell in Marcoule. To perform these operations, STMI's operating teams, on top of decontamination and dismantling technologies, strived to improve handling and transportation technologies, and to nuclearize many equipments. In order to increase its technical efficiency, STMI signed a cooperation agreement with TECHNICATOME company. Therefore, the union between the operational know-hows of STMI and the design experience of TECHNICATOME allow the needs of any customs facing a dismantling case to be satisfied [fr

  16. SpRoUTS (Space Robot Universal Truss System): Reversible Robotic Assembly of Deployable Truss Structures of Reconfigurable Length

    Science.gov (United States)

    Jenett, Benjamin; Cellucci, Daniel; Cheung, Kenneth

    2015-01-01

    Automatic deployment of structures has been a focus of much academic and industrial work on infrastructure applications and robotics in general. This paper presents a robotic truss assembler designed for space applications - the Space Robot Universal Truss System (SpRoUTS) - that reversibly assembles a truss from a feedstock of hinged andflat-packed components, by folding the sides of each component up and locking onto the assembled structure. We describe the design and implementation of the robot and show that the assembled truss compares favorably with prior truss deployment systems.

  17. Nuclab Marcoule: a dedicated waste management and dismantling support laboratory

    International Nuclear Information System (INIS)

    Dugne, Olivier; Bec-Espitalier, Lionel; Rosen, Jeremy

    2014-01-01

    Formerly dedicated to plutonium production support, NucLab was renovated to perform a wide range of analyses for dismantling, plant operation and process development activities mainly at Marcoule but also for external clients. The laboratory is a CEA entity in the Nuclear Energy Division. It provides services to several industrial operators (nuclear processes and power plants) in the fields of analytical chemistry, radioactivity measurements, in situ nuclear measurements, decontamination processes, industrial chemistry processes, and waste treatment. NucLab supports research, production, and dismantling activities in all areas of dismantling operations (authors)

  18. Robotic radiation survey and analysis system for radiation waste casks

    International Nuclear Information System (INIS)

    Thunborg, S.

    1987-01-01

    Sandia National Laboratories (SNL) and the Hanford Engineering Development Laboratories have been involved in the development of remote systems technology concepts for handling defense high-level waste (DHLW) shipping casks at the waste repository. This effort was demonstrated the feasibility of using this technology for handling DHLW casks. These investigations have also shown that cask design can have a major effect on the feasibility of remote cask handling. Consequently, SNL has initiated a program to determine cask features necessary for robotic remote handling at the waste repository. The initial cask handling task selected for detailed investigation was the robotic radiation survey and analysis (RRSAS) task. In addition to determining the design features required for robotic cask handling, the RRSAS project contributes to the definition of techniques for random selection of swipe locations, the definition of robotic swipe parameters, force control techniques for robotic swipes, machine vision techniques for the location of objects in 3-D, repository robotic systems requirements, and repository data management system needs

  19. Management system information of characterization of the dismantling project of Jose Cabrera; Sistema de Gestion de la informacion de caracterizacion del proyecto de desmantelamiento de la CN Jose Cabrera

    Energy Technology Data Exchange (ETDEWEB)

    Gimeno Blesa, M. E.; Martin Palomo, N.; Gomez Rodriguez, C. A.

    2011-07-01

    In the proposed dismantling and decommissioning of the Jose Cabrera NPP is designed and implemented a database of physical and radiological inventory, which provides a powerful tool to optimize the storage, monitoring and control of the characterization data. The database is a useful and reliable management system characterization information that facilitates access and information processing, and ensures their integrity and traceability along of the dismantling project.

  20. The Blue Lady Case and the International Issue of Ship Dismantling - Comment

    Directory of Open Access Journals (Sweden)

    Florent Pelsy

    2008-09-01

    Full Text Available This paper focuses on the decision of the Supreme Court of India to allow the dismantling of the Blue Lady (ex France in Alang. The first part underlines that the Supreme Court of India is prioritising the commercial interest of the dismantling companies over the social and environmental concerns of the workers and the communities living in Alang. It argues that such decision goes against its 2003 judgement on ship-dismantling. It then demonstrates that the Supreme Court of India is distorting the concept of sustainable development. The second part analyses the Blue Lady case from an international perspective since most of the ships that are dismantled in India come from developed countries. It provides an overview of the Basel Convention on ship dismantling issues and a study of the Clemenceau case before the French Conseil d'Etat. It then concludes that a better control of end-of-life ships in OECD countries and a new international convention on ship-dismantling would be necessary in order to prevent environmental and social disasters in Alang.

  1. Remote Robotic Cleaning System for Contaminated Hot-Cell Floor

    International Nuclear Information System (INIS)

    Kim, Ki Ho; Park, Jang Jin; Yang, Myung S.; Kwon, Hyo Kjo

    2005-01-01

    The M6 hot-cell of the Irradiated Material Examination Facility at the Korea Atomic Energy Research Institute (KAERI) has been contaminated with spent fuel debris and other radioactive waste due to the DUPIC nuclear fuel development processes. As the hot-cell is active, direct human workers' access, even with protection, to the in-cell is not possible because of the nature of the high radiation level of the spent PWR fuel. A remote robotic cleaning system has been developed for use in a highly radioactive environment of the M6 hot-cell. The remote robotic cleaning system was designed to completely eliminate human interaction with hazardous radioactive contaminants. This robotic cleaning system was also designed to remove contaminants or contaminated smears placed or fixed on the floor of the M6 hot-cell by mopping it in a remote manner. The environmental, functional and mechanical design considerations, control system and capabilities of the developed remote robotic cleaning system are presented

  2. Achievement report for fiscal 2000 on operational research of human cooperative and coexisting (humanoid) robot system. Operational research of humanoid robot system; 2000 nendo ningen kyocho kyozongata robot system un'yo kenkyu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-03-01

    This paper reports the achievements in fiscal 2000 in the operational research of humanoid robot system. Carrying out the development smoothly and efficiently requires accumulation of the operational know-how in both of the periodical check and maintenance and the aspects of hard and software to maintain the functions and performances of the robot platform having been developed in the previous fiscal year. Checks were given on fitting of the fasteners and connectors, batteries, and sensors. Operations were confirmed and adjusted on the liquid crystal projector of the surrounded visual display system for remotely controlled operation, polarization filters, screens, reflector mirrors, and wide viewing angle cameras. Verifications were made on fitting of the arm operation force sensing and presenting system, checks on the mechanical components, and operation of the driving system, whereas no change has been found in the operation for the period of one year, and sufficient performance was identified for the remote robot operation. The virtual robot platform has presented no crash and impediments during erroneous use in the disks of the dynamics simulator and the distributed network processing system. (NEDO)

  3. FY 1998 Report on research and development project. Research and development of human-cooperative/coexisting robot systems; 1998 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2000-03-01

    This R and D project is aimed at development of the human-cooperative/coexisting robot systems with high safety and reliability, capable of performing complicated works cooperatively and in a coexisting manner with humans in human working and living spaces, in order to help improve safety and efficiency in various industrial areas, improve services and convenience in manufacturing and service areas, and create new industries. The trend surveys cover humanoid robot systems, remote control systems and simulators, and the application surveys cover services for humans, basic humanoids and entertainment communication. The 1998 R and D efforts include research and development, fabrication and surveys for the following themes; (1) fabrication of robot platforms for supporting manual works, (2) development of surrounded visual display systems, (3) development of robot arm manipulation and force displaying systems, (4) development of a dynamic simulator, (5) development of a distributed software platform, (6) researches and development of computation algorithm for kinematic chain dynamics, (7) development of motion teaching system for multi-functional robots, (8) investigation of trends in robotics technology, and (9) researches and surveys of robot application. (NEDO)

  4. Automation and robotics technology for intelligent mining systems

    Science.gov (United States)

    Welsh, Jeffrey H.

    1989-01-01

    The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

  5. Robotics virtual rail system and method

    Science.gov (United States)

    Bruemmer, David J [Idaho Falls, ID; Few, Douglas A [Idaho Falls, ID; Walton, Miles C [Idaho Falls, ID

    2011-07-05

    A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

  6. A robot-assisted synthesis system applied to 11C-alkylations

    International Nuclear Information System (INIS)

    Appelquist, G.; Bohm, C.; Eriksson, H.; Halldin, C.; Stone-Elander, S.

    1990-01-01

    A robot-based system for the production of radiopharmaceuticals has been developed, which consists of a 7-axis SCARA robot, supporting equipment, a synthesis module, and a PC-AT personal computer for system control. A Multifunction Editor (MFE) acts as the system controller and is a development tool as well. Robot movement can be controlled via keyboard, mouse, or remote control box, and procedures can be saved and edited for future use

  7. Mobile Robot Positioning by using Low-Cost Visual Tracking System

    Directory of Open Access Journals (Sweden)

    Ruangpayoongsak Niramon

    2017-01-01

    Full Text Available This paper presents an application of visual tracking system on mobile robot positioning. The proposed method is verified on a constructed low-cost tracking system consisting of 2 DOF pan-tilt unit, web camera and distance sensor. The motion of pan-tilt joints is realized and controlled by using LQR controller running on microcontroller. Without needs of camera calibration, robot trajectory is tracked by Kalman filter integrating distance information and joint positions. The experimental results demonstrate validity of the proposed positioning technique and the obtained mobile robot trajectory is benchmarked against laser rangefinder positioning. The implemented system can successfully track a mobile robot driving at 14 cm/s.

  8. An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems.

    Science.gov (United States)

    Timmis, J; Ismail, A R; Bjerknes, J D; Winfield, A F T

    2016-08-01

    Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

  9. 3D vision system for intelligent milking robot automation

    Science.gov (United States)

    Akhloufi, M. A.

    2013-12-01

    In a milking robot, the correct localization and positioning of milking teat cups is of very high importance. The milking robots technology has not changed since a decade and is based primarily on laser profiles for teats approximate positions estimation. This technology has reached its limit and does not allow optimal positioning of the milking cups. Also, in the presence of occlusions, the milking robot fails to milk the cow. These problems, have economic consequences for producers and animal health (e.g. development of mastitis). To overcome the limitations of current robots, we have developed a new system based on 3D vision, capable of efficiently positioning the milking cups. A prototype of an intelligent robot system based on 3D vision for real-time positioning of a milking robot has been built and tested under various conditions on a synthetic udder model (in static and moving scenarios). Experimental tests, were performed using 3D Time-Of-Flight (TOF) and RGBD cameras. The proposed algorithms permit the online segmentation of teats by combing 2D and 3D visual information. The obtained results permit the teat 3D position computation. This information is then sent to the milking robot for teat cups positioning. The vision system has a real-time performance and monitors the optimal positioning of the cups even in the presence of motion. The obtained results, with both TOF and RGBD cameras, show the good performance of the proposed system. The best performance was obtained with RGBD cameras. This latter technology will be used in future real life experimental tests.

  10. A robotic system to characterize soft tailings deposits

    Energy Technology Data Exchange (ETDEWEB)

    Lipsett, M.G.; Dwyer, S.C. [Alberta Univ., Edmonton, AB (Canada). Dept. of Mechanical Engineering

    2009-07-01

    A robotic system for characterizing soft tailings deposits was discussed in this presentation. The system was developed to reduce variability in feedstocks and process performance as well as to improve the trafficability of composite tailings (CT). The method was designed to reliably sample different locations of a soft deposit. Sensors were used to determine water content, clay content, organic matter, and strength. The system included an autonomous rover with a sensor package and teleoperation capability. The system was also designed to be used without automatic controls. The wheeled mobile robot was used to conduct ground contact and soil measurements. The gas-powered robot included on-board microcontrollers and a host computer. The system also featured traction control and fault recovery sub-systems. Wheel contact was used to estimate soil parameters. It was concluded that further research is needed to improve traction control and soil parameter estimation testing capabilities. Overall system block diagrams were included. tabs., figs.

  11. Robot calibration with a photogrammetric on-line system using reseau scanning cameras

    Science.gov (United States)

    Diewald, Bernd; Godding, Robert; Henrich, Andreas

    1994-03-01

    The possibility for testing and calibration of industrial robots becomes more and more important for manufacturers and users of such systems. Exacting applications in connection with the off-line programming techniques or the use of robots as measuring machines are impossible without a preceding robot calibration. At the LPA an efficient calibration technique has been developed. Instead of modeling the kinematic behavior of a robot, the new method describes the pose deviations within a user-defined section of the robot's working space. High- precision determination of 3D coordinates of defined path positions is necessary for calibration and can be done by digital photogrammetric systems. For the calibration of a robot at the LPA a digital photogrammetric system with three Rollei Reseau Scanning Cameras was used. This system allows an automatic measurement of a large number of robot poses with high accuracy.

  12. System and method for seamless task-directed autonomy for robots

    Science.gov (United States)

    Nielsen, Curtis; Bruemmer, David; Few, Douglas; Walton, Miles

    2012-09-18

    Systems, methods, and user interfaces are used for controlling a robot. An environment map and a robot designator are presented to a user. The user may place, move, and modify task designators on the environment map. The task designators indicate a position in the environment map and indicate a task for the robot to achieve. A control intermediary links task designators with robot instructions issued to the robot. The control intermediary analyzes a relative position between the task designators and the robot. The control intermediary uses the analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information to the robot. The target achievement information may include instructions for directly guiding the robot if the task-oriented autonomy level indicates low robot initiative and may include instructions for directing the robot to determine a robot plan for achieving the task if the task-oriented autonomy level indicates high robot initiative.

  13. Experience of partial dismantling and large component removal of light water reactors

    International Nuclear Information System (INIS)

    Dubourg, M.

    1987-01-01

    Not any of the French PWR reactors need to be decommissioned before the next decade or early 2000. However, feasibility studies of decommissioning have been undertaken and several dismantling scenarios have been considered including the dismantling of four PWR units and the on-site entombment of the active components into a reactor building for interim disposal. In addition to theoretical evaluation of radwaste volume and activity, several operations of partial dismantling of active components and decontamination activities have been conducted in view of dismantling for both PWR and BWR units. By analyzing the concept of both 900 and 1300 MWe PWR's, it appears that the design improvements taken into account for reducing occupational dose exposure of maintenance personnel and the development of automated tools for performing maintenance and repairs of major components, contribute to facilitate future dismantling and decommissioning operations

  14. An Autonomous Robotic System for Mapping Weeds in Fields

    DEFF Research Database (Denmark)

    Hansen, Karl Damkjær; Garcia Ruiz, Francisco Jose; Kazmi, Wajahat

    2013-01-01

    The ASETA project develops theory and methods for robotic agricultural systems. In ASETA, unmanned aircraft and unmanned ground vehicles are used to automate the task of identifying and removing weeds in sugar beet fields. The framework for a working automatic robotic weeding system is presented...

  15. Cost Savings through Innovation in Decontamination, Decommissioning, and Dismantlement

    International Nuclear Information System (INIS)

    Yancey, Neal A.

    2003-01-01

    /or safer. The technologies evaluated through the LSDDP have provided improvements in the following D and D areas: robotic underwater characterization of fuel storage pools, characterization of scrap metal for recycle, PCB and RCRA metals analysis in soil, water, paint, or sludge, subsurface characterization, personnel safety, waste disposal, scaffolding use, and remote radiation characterization of buildings and soil. It is estimated that the technologies demonstrated and deployed through this program will save more than $50 million dollars over the next 10 years at the INEEL alone. Of the $50 million estimated dollars saved, about 75% of the savings will come from characterization technologies, 11% from technologies associated with material dispositioning, 10% are associated with dismantlement technologies and the balance split between safety and decontamination

  16. Biologically Inspired Object Localization for a Modular Mobile Robotic System

    Directory of Open Access Journals (Sweden)

    Zlatogor Minchev

    2005-12-01

    Full Text Available The paper considers a general model of real biological creatures' antennae, which is practically implemented and tested, over a real element of a mobile modular robotic system - the robot MR1. The last could be utilized in solving of the most classical problem in Robotics - Object Localization. The functionality of the represented sensor system is described in a new and original manner by utilizing the tool of Generalized Nets - a new likelihood for description, modelling and simulation of different objects from the Artificial Intelligence area including Robotics.

  17. Application of da Vinci surgical robotic system in hepatobiliary surgery

    Directory of Open Access Journals (Sweden)

    Chen Jiahai

    2018-01-01

    Full Text Available The development of minimally invasive surgery has brought a revolutionary change to surgery techniques, and endoscopic surgical robots, especially Da Vinci robotic surgical system, has further broaden the scope of minimally invasive surgery, which has been applied in a variety of surgical fields including hepatobiliary surgery. Today, the application of Da Vinci surgical robot can cover most of the operations in hepatobiliary surgery which has proved to be safe and practical. What’s more, many clinical studies in recent years have showed that Da Vinci surgical system is superior to traditional laparoscopy. This paper summarize the advantage and disadvantage of Da Vinci surgical system, and outlines the current status of and future perspectives on the robot-assisted hepatobiliary surgery based on the cases reports in recent years of the application of Da Vinci surgical robot.

  18. Development of a handling technology for underwater inspection and dismantling

    International Nuclear Information System (INIS)

    Rose, N.

    1994-01-01

    For the purpose of underwater inspection and dismantling of nuclear facilities, a prototype of a freely submersible, remote-controlled handling system was developed and tested under laboratory conditions. Particular interest was taken in the specific boundary conditions of the area of application and the methodological concept. The system was developed in three phases; in each phase, a prototype was constructed and tested. (orig.) [de

  19. Analyses of robot systems using fault and event trees: case studies

    International Nuclear Information System (INIS)

    Khodabandehloo, Koorosh

    1996-01-01

    Safety in the use of robotics outside factories or processing plants has become a matter of great international concern. Domestic robots and those intended to assist nurses and surgeons in hospitals are examples of cases where safety and reliability are considered critical. The safe performance of robot systems depends on many factors, including the integrity of the robot's hardware and software, the way it communicates with sensory and other production equipment, the reliable function of the safety features present and the way the robot interacts with its environment. The use of systematic techniques such as Fault and Event Tree analysis to examine the safety and reliability of a given robotic system is presented. Considerable knowledge is needed before the application of such analysis techniques can be translated into safety specifications or indeed 'fail-safe' design features of robotic systems. The skill and understanding required for the formulation of such specifications is demonstrated here based on a number of case studies

  20. Robotics/Automated Systems Technicians.

    Science.gov (United States)

    Doty, Charles R.

    Major resources exist that can be used to develop or upgrade programs in community colleges and technical institutes that educate robotics/automated systems technicians. The first category of resources is Economic, Social, and Education Issues. The Office of Technology Assessment (OTA) report, "Automation and the Workplace," presents analyses of…

  1. Visual Detection and Tracking System for a Spherical Amphibious Robot.

    Science.gov (United States)

    Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

    2017-04-15

    With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation.

  2. Visual Detection and Tracking System for a Spherical Amphibious Robot

    Science.gov (United States)

    Guo, Shuxiang; Pan, Shaowu; Shi, Liwei; Guo, Ping; He, Yanlin; Tang, Kun

    2017-01-01

    With the goal of supporting close-range observation tasks of a spherical amphibious robot, such as ecological observations and intelligent surveillance, a moving target detection and tracking system was designed and implemented in this study. Given the restrictions presented by the amphibious environment and the small-sized spherical amphibious robot, an industrial camera and vision algorithms using adaptive appearance models were adopted to construct the proposed system. To handle the problem of light scattering and absorption in the underwater environment, the multi-scale retinex with color restoration algorithm was used for image enhancement. Given the environmental disturbances in practical amphibious scenarios, the Gaussian mixture model was used to detect moving targets entering the field of view of the robot. A fast compressive tracker with a Kalman prediction mechanism was used to track the specified target. Considering the limited load space and the unique mechanical structure of the robot, the proposed vision system was fabricated with a low power system-on-chip using an asymmetric and heterogeneous computing architecture. Experimental results confirmed the validity and high efficiency of the proposed system. The design presented in this paper is able to meet future demands of spherical amphibious robots in biological monitoring and multi-robot cooperation. PMID:28420134

  3. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs.

  4. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok.

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs

  5. Laparoscopy-assisted Robotic Myomectomy Using the DA Vinci System

    Directory of Open Access Journals (Sweden)

    Shih-Peng Mao

    2007-06-01

    Conclusion: Minimally invasive surgery is the trend of the future. Robot-assisted laparoscopic surgery is a new technique for myomectomy. This robotic system provides a three-dimensional operative field and an easy-to-use control panel, which may be of great help when applying the suturing techniques and may shorten the learning curve. More experience with and long-term follow-up of robotic surgery may be warranted to further validate the role the robot-assisted approach in gynecologic surgery.

  6. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses.

    Science.gov (United States)

    Roldán, Juan Jesús; Garcia-Aunon, Pablo; Garzón, Mario; de León, Jorge; Del Cerro, Jaime; Barrientos, Antonio

    2016-07-01

    The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops) without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments.

  7. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses

    Directory of Open Access Journals (Sweden)

    Juan Jesús Roldán

    2016-07-01

    Full Text Available The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments.

  8. The preliminary 3D dynamic simulation on the RSR dismantling process of the KRR-1 and 2

    International Nuclear Information System (INIS)

    Kim, Hee-Reyoung; Kim, Sung-Kyun; Seo, Bum-Kyoung; Lee, Kune-Woo; Park, Jin-Ho

    2003-01-01

    A three-dimensional graphic simulation has been carried out for the dismantling process of the Rotary Specimen Rack(RSR) in the Korea Research Reactor-1 and 2 (KRR-1 and 2). First of all, the general steps of the graphic simulation were established and reviewed for the dismantling process of the object. Four dismantling processes, which are the removal of RSR, reactor core region, beam tube, and thermal column and activated concrete, were selected for the graphic simulation on the virtual space by the consideration of the activation, worker training, work difficulty and so on. In the present study, the dismantling procedure of the RSR was divided into several steps and its visual simulation was performed by the 3D graphic software. Finally, the simulation result was converted to moving file with extension of AVI so that easy approach can be made on window OS system

  9. 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

  10. Method of processing dismantled products of radiation-contaminated equipments and transportation container therefor

    International Nuclear Information System (INIS)

    Komura, Shiro; Heki, Hideaki.

    1991-01-01

    In a method of decontaminating dismantled products of radiation-contaminated equipments removed at nuclear power facilities and classifying the dismantled products depending on their remaining radioactivity levels measured at a processing facility, the dismantled products are contained in a transportation container, to which decontamination liquids are injected and they are transferred to the processing facility. The decontaminated liquid wastes are drained from the transportation container, the dismantled products are washed while being contained in the transportation container as they are. Then, they are transferred to a step for measuring their remaining radioactivity level. This can shorten the time from the containment of the dismantled products to the transportation container to the completion of the decontamination, to improve the efficiency for the decontamination processing. Further, by separately containing the dismantled products on every kind of materials to respective containers, the processing time can be appropriately controlled respectively even if the dissolving efficiency to the decontamination liquids is different depending on the materials. (T.M.)

  11. Distributed consensus with visual perception in multi-robot systems

    CERN Document Server

    Montijano, Eduardo

    2015-01-01

    This monograph introduces novel responses to the different problems that arise when multiple robots need to execute a task in cooperation, each robot in the team having a monocular camera as its primary input sensor. Its central proposition is that a consistent perception of the world is crucial for the good development of any multi-robot application. The text focuses on the high-level problem of cooperative perception by a multi-robot system: the idea that, depending on what each robot sees and its current situation, it will need to communicate these things to its fellows whenever possible to share what it has found and keep updated by them in its turn. However, in any realistic scenario, distributed solutions to this problem are not trivial and need to be addressed from as many angles as possible. Distributed Consensus with Visual Perception in Multi-Robot Systems covers a variety of related topics such as: ·         distributed consensus algorithms; ·         data association and robustne...

  12. Intelligent robotics and remote systems for the nuclear industry

    International Nuclear Information System (INIS)

    Wehe, D.K.; Lee, J.C.; Martin, W.R.; Tulenko, J.

    1989-01-01

    The nuclear industry has a recognized need for intelligent, multitask robots to carry out tasks in harsh environments. From 1986 to the present, the number of robotic systems available or under development for use in the nuclear industry has more than doubled. Presently, artificial intelligence (AI) plays a relatively small role in existing robots used in the nuclear industry. Indeed, the lack of intelligence has been labeled the ''Achilles heel'' of all current robotic technology. However, larger-scale efforts are underway to make the multitask robot more sensitive to its environment, more capable to move and perform useful work, and more fully autonomous via the use of AI. In this paper, we review the terminology, the history, and the factors which are motivating the development of robotics and remove systems; discuss the applications related to the nuclear industry; and, finally, examine the state of the art of the technologies being applied to introduce more autonomous capabilities. Much of this latter work can be classified as within the artificial intelligence framework. (orig.)

  13. Parameters of Dismantling Techniques Related to Costs for Decommissioning of Nuclear Facilities

    International Nuclear Information System (INIS)

    Jeong, Kwanseong; Moon, Jeikwon; Choi, Byungseon

    2012-01-01

    Reliable cost estimating is one of the most important elements of decommissioning operation. Reliable cost estimating is one of the most important elements of decommissioning planning. Alternative technologies may be evaluated and compared on their efficiency and effectiveness, and measured against a baseline cost as to the feasibility and benefit derived from the technology. This principle ensures that the cost consideration is economically sound and practical for funding. This paper provides a list with basic review of cutting and dismantling techniques, including some typical characteristics if available, as well as aspects of implementation, parameters of cutting and dismantling techniques in decommissioning costing. This paper gives an overview of the principles of the unit factor approach and its implementation in costing in relation to dismantling activities. In general, proper evaluation of decommissioning costs is important for following issues and relevant measures for achieving the listed aspects are: · Selection of a decommissioning strategy and activities: several decommissioning options should be evaluated: · Support to a cost-benefit analysis to ensure that the principle of optimization and reasonably practicable measures are applied: the extent of evaluated decommissioning options should cover all possible scenarios for dismantling activities; · Estimate of required financial resources for the selected strategy: the selected option should involve the dismantling activities in a structure and extent relevant to real procedure of dismantling activities; · Preparation of the project schedule, workforce requirements and phased funding needs: dismantling activities should be structured according to the tasks of the decommissioning schedule; · Definition of measures for proper management and maintenance of resources for safe and timely decommissioning: the time distribution and safety related parameters of dismantling activities should be known

  14. Robot operating system (ROS) the complete reference

    CERN Document Server

    The objective of this book is to provide the reader with a comprehensive coverage on the Robot Operating Systems (ROS) and latest related systems, which is currently considered as the main development framework for robotics applications. The book includes twenty-seven chapters organized into eight parts. Part 1 presents the basics and foundations of ROS. In Part 2, four chapters deal with navigation, motion and planning. Part 3 provides four examples of service and experimental robots. Part 4 deals with real-world deployment of applications. Part 5 presents signal-processing tools for perception and sensing. Part 6 provides software engineering methodologies to design complex software with ROS. Simulations frameworks are presented in Part 7. Finally, Part 8 presents advanced tools and frameworks for ROS including multi-master extension, network introspection, controllers and cognitive systems. This book will be a valuable companion for ROS users and developers to learn more ROS capabilities and features.   ...

  15. Declarative Rule-based Safety for Robotic Perception Systems

    DEFF Research Database (Denmark)

    Mogensen, Johann Thor Ingibergsson; Kraft, Dirk; Schultz, Ulrik Pagh

    2017-01-01

    Mobile robots are used across many domains from personal care to agriculture. Working in dynamic open-ended environments puts high constraints on the robot perception system, which is critical for the safety of the system as a whole. To achieve the required safety levels the perception system needs...... to be certified, but no specific standards exist for computer vision systems, and the concept of safe vision systems remains largely unexplored. In this paper we present a novel domain-specific language that allows the programmer to express image quality detection rules for enforcing safety constraints...

  16. Developing stereo image based robot control system

    Energy Technology Data Exchange (ETDEWEB)

    Suprijadi,; Pambudi, I. R.; Woran, M.; Naa, C. F; Srigutomo, W. [Department of Physics, FMIPA, InstitutTeknologi Bandung Jl. Ganesha No. 10. Bandung 40132, Indonesia supri@fi.itb.ac.id (Indonesia)

    2015-04-16

    Application of image processing is developed in various field and purposes. In the last decade, image based system increase rapidly with the increasing of hardware and microprocessor performance. Many fields of science and technology were used this methods especially in medicine and instrumentation. New technique on stereovision to give a 3-dimension image or movie is very interesting, but not many applications in control system. Stereo image has pixel disparity information that is not existed in single image. In this research, we proposed a new method in wheel robot control system using stereovision. The result shows robot automatically moves based on stereovision captures.

  17. Design and Optimization of Intelligent Service Robot Suspension System Using Dynamic Model

    International Nuclear Information System (INIS)

    Choi, Seong Hoon; Park, Tae Won; Lee, Soo Ho; Jung, Sung Pil; Jun, Kab Jin; Yoon, J. W.

    2010-01-01

    Recently, an intelligent service robot is being developed for use in guiding and providing information to visitors about the building at public institutions. The intelligent robot has a sensor at the bottom to recognize its location. Four wheels, which are arranged in the form of a lozenge, support the robot. This robot cannot be operated on uneven ground because its driving parts are attached to its main body that contains the important internal components. Continuous impact with the ground can change the precise positions of the components and weaken the connection between each structural part. In this paper, the design of the suspension system for such a robot is described. The dynamic model of the robot is created, and the driving characteristics of the robot with the designed suspension system are simulated. Additionally, the suspension system is optimized to reduce the impact for the robot components

  18. Control of a high precision macro-micro robotic manipulator system

    International Nuclear Information System (INIS)

    Cho, Whang

    1997-01-01

    A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joint associated with micro-robot. (author)

  19. A volumetric data system for environmental robotics

    International Nuclear Information System (INIS)

    Tourtellott, J.

    1994-01-01

    A three-dimensional, spatially organized or volumetric data system provides an effective means for integrating and presenting environmental sensor data to robotic systems and operators. Because of the unstructed nature of environmental restoration applications, new robotic control strategies are being developed that include environmental sensors and interactive data interpretation. The volumetric data system provides key features to facilitate these new control strategies including: integrated representation of surface, subsurface and above-surface data; differentiation of mapped and unmapped regions in space; sculpting of regions in space to best exploit data from line-of-sight sensors; integration of diverse sensor data (for example, dimensional, physical/geophysical, chemical, and radiological); incorporation of data provided at different spatial resolutions; efficient access for high-speed visualization and analysis; and geometric modeling tools to update a open-quotes world modelclose quotes of an environment. The applicability to underground storage tank remediation and buried waste site remediation are demonstrated in several examples. By integrating environmental sensor data into robotic control, the volumetric data system will lead to safer, faster, and more cost-effective environmental cleanup

  20. Fiscal 1997 report on the results of the international standardization R and D. Robot control system; 1997 nendo seika hokokusho kokusai hyojun soseigata kenkyu kaihatsu. Robot seigyo system

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1998-03-01

    R and D of the robot control system was conducted in the following items: 1) integrated open control system, 2) remote control robot manipulation language, 3) human factor robot use built-in LAN system, 4) built-in actuator driver. In 1), there were some problems to be pointed out around the system, but the effectiveness was confirmed as system architecture of each verification item. In 2), development/design were made of RCML(R-Cube Manipulation Language) as a remote robot manipulation language, telecommunication protocol, and the experimental system, and the international standardization was targeted. In 3), the R and D was conducted of the realtime telecommunication protocol which clears the standards for the distributed control required for construction of human factor robot and the advanced realtime micro-controller, ULSI, which is the one that the protocol was made IC. In 4), an intelligent connector for built-in actuator was developed which enables saving of wiring in robot system and plug-in connection. 13 refs., 186 figs., 53 tabs.

  1. Evaluation of worker's dose on a virtual dismantling environment

    International Nuclear Information System (INIS)

    Park, Hee Seong; Kim, Sung Hyun; Park, Byung Suk; Yoon, Ji Sup

    2007-01-01

    The motivation of this study is to provide a basis for a minimization of worker's dose during dismantling activities. In the present study, we proposed methods for identifying an existence of radioactivity which is contained in the dismantling objects and for evaluating a worker's dose under a virtual dismantling environment. To evaluate a worker's external dose, the shape of the exposure room in the KRR 2(Korean Research Reactor TRIGA MARK III) by 3D CAD was created and the radiation dose surrounding the facility by using MCNP- 4C(Monte Carlo N-Particle-4C) was calculated. The radiation field of the exposure room was visualized three dimensionally by using the radiation dose that was obtained by the code

  2. Decommissioning and dismantling of the reprocessing plant Karlsruhe

    International Nuclear Information System (INIS)

    Eiben, K.; Fritz, P.

    1995-01-01

    Reprocessing activities were discontinued in late 1990. The facility was drained and rinsed, and 80 m3 of HLWC have since been stored in special tanks, awaiting vitrification. Decommissioning work is scheduled to proceed in six phases. The reprocessing areas of the facility will be prepared for release from radiological control and dismantled in the first phase. The remaining facilities can be deregulated, and storage tanks dismantled, only after termination of phase 1. The goal of the following phase is clearance from radiological control of all controlled areas, and the last phase is to cover dismantling of all buildings and restoration of a green field site. The overall costs of these activities are estimated to amount to DM 1.657 million. The article explains the contents of the first permits for decommissioning as well as the documents prepared for planning of work and licence application. (orig./HP) [de

  3. A Vision-Based Wireless Charging System for Robot Trophallaxis

    Directory of Open Access Journals (Sweden)

    Jae-O Kim

    2015-12-01

    Full Text Available The need to recharge the batteries of a mobile robot has presented an important challenge for a long time. In this paper, a vision-based wireless charging method for robot energy trophallaxis between two robots is presented. Even though wireless power transmission allows more positional error between receiver-transmitter coils than with a contact-type charging system, both coils have to be aligned as accurately as possible for efficient power transfer. To align the coils, a transmitter robot recognizes the coarse pose of a receiver robot via a camera image and the ambiguity of the estimated pose is removed with a Bayesian estimator. The precise pose of the receiver coil is calculated using a marker image attached to a receiver robot. Experiments with several types of receiver robots have been conducted to verify the proposed method.

  4. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  5. Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

    Science.gov (United States)

    Su, Hao; Shang, Weijian; Cole, Gregory; Li, Gang; Harrington, Kevin; Camilo, Alexander; Tokuda, Junichi; Tempany, Clare M.; Hata, Nobuhiko; Fischer, Gregory S.

    2014-01-01

    This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a 3-Tesla MRI scanner using standard imaging sequences and the signal-to-noise ratio (SNR) loss is limited to 15%. The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated 0.87 mm root mean square (RMS) error in 3D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure. PMID:26412962

  6. Use of robotic systems for radiochemical sample changing and for analytical sample preparation

    International Nuclear Information System (INIS)

    Delmastro, J.R.; Hartenstein, S.D.; Wade, M.A.

    1989-01-01

    Two uses of the Perkin-Elmer (PE) robotic system will be presented. In the first, a PE robot functions as an automatic sample changer for up to five low energy photon spectrometry (LEPS) detectors operated with a Nuclear Data ND 6700 system. The entire system, including the robot, is controlled by an IBM PC-AT using software written in compiled BASIC. Problems associated with the development of the system and modifications to the robot will be presented. In the second, an evaluation study was performed to assess the abilities of the PE robotic system for performing complex analytical sample preparation procedures. For this study, a robotic system based upon the PE robot and auxiliary devices was constructed and programmed to perform the preparation of final product samples (UO 3 ) for accountability and impurity specification analyses. These procedures require sample dissolution, dilution, and liquid-liquid extraction steps. The results of an in-depth evaluation of all system components will be presented

  7. Intelligent Vision System for Door Sensing Mobile Robot

    Directory of Open Access Journals (Sweden)

    Jharna Majumdar

    2012-08-01

    Full Text Available Wheeled Mobile Robots find numerous applications in the Indoor man made structured environments. In order to operate effectively, the robots must be capable of sensing its surroundings. Computer Vision is one of the prime research areas directed towards achieving these sensing capabilities. In this paper, we present a Door Sensing Mobile Robot capable of navigating in the indoor environment. A robust and inexpensive approach for recognition and classification of the door, based on monocular vision system helps the mobile robot in decision making. To prove the efficacy of the algorithm we have designed and developed a ‘Differentially’ Driven Mobile Robot. A wall following behavior using Ultra Sonic range sensors is employed by the mobile robot for navigation in the corridors.  Field Programmable Gate Arrays (FPGA have been used for the implementation of PD Controller for wall following and PID Controller to control the speed of the Geared DC Motor.

  8. Dynamic electronic institutions in agent oriented cloud robotic systems.

    Science.gov (United States)

    Nagrath, Vineet; Morel, Olivier; Malik, Aamir; Saad, Naufal; Meriaudeau, Fabrice

    2015-01-01

    The dot-com bubble bursted in the year 2000 followed by a swift movement towards resource virtualization and cloud computing business model. Cloud computing emerged not as new form of computing or network technology but a mere remoulding of existing technologies to suit a new business model. Cloud robotics is understood as adaptation of cloud computing ideas for robotic applications. Current efforts in cloud robotics stress upon developing robots that utilize computing and service infrastructure of the cloud, without debating on the underlying business model. HTM5 is an OMG's MDA based Meta-model for agent oriented development of cloud robotic systems. The trade-view of HTM5 promotes peer-to-peer trade amongst software agents. HTM5 agents represent various cloud entities and implement their business logic on cloud interactions. Trade in a peer-to-peer cloud robotic system is based on relationships and contracts amongst several agent subsets. Electronic Institutions are associations of heterogeneous intelligent agents which interact with each other following predefined norms. In Dynamic Electronic Institutions, the process of formation, reformation and dissolution of institutions is automated leading to run time adaptations in groups of agents. DEIs in agent oriented cloud robotic ecosystems bring order and group intellect. This article presents DEI implementations through HTM5 methodology.

  9. ASBESTOS PIPE-INSULATION REMOVAL ROBOT SYSTEM; FINAL

    International Nuclear Information System (INIS)

    Unknown

    2000-01-01

    This final topical report details the development, experimentation and field-testing activities for a robotic asbestos pipe-insulation removal robot system developed for use within the DOE's weapon complex as part of their ER and WM program, as well as in industrial abatement. The engineering development, regulatory compliance, cost-benefit and field-trial experiences gathered through this program are summarized

  10. Development of a medical robot system for minimally invasive surgery.

    Science.gov (United States)

    Feng, Mei; Fu, Yili; Pan, Bo; Liu, Chang

    2012-03-01

    Robot-assisted systems have been widely used in minimally invasive surgery (MIS) practice, and with them the precision and accuracy of surgical procedures can be significantly improved. Promoting the development of robot technology in MIS will improve robot performance and help in tackling problems from complex surgical procedures. A medical robot system with a new mechanism for MIS was proposed to achieve a two-dimensional (2D) remote centre of motion (RCM). An improved surgical instrument was designed to enhance manipulability and eliminate the coupling motion between the wrist and the grippers. The control subsystem adopted a master-slave control mode, upon which a new method with error compensation of repetitive feedback can be based for the inverse kinematics solution. A unique solution with less computation and higher satisfactory accuracy was also obtained. Tremor filtration and trajectory planning were also addressed with regard to the smoothness of the surgical instrument movement. The robot system was tested on pigs weighing 30-45 kg. The experimental results show that the robot can successfully complete a cholecystectomy and meet the demands of MIS. The results of the animal experiments were excellent, indicating a promising clinical application of the robot with high manipulability. Copyright © 2011 John Wiley & Sons, Ltd.

  11. Design, implementation and testing of master slave robotic surgical system

    International Nuclear Information System (INIS)

    Ali, S.A.

    2015-01-01

    The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom) haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system. (author)

  12. Design, Implementation and Testing of Master Slave Robotic Surgical System

    Directory of Open Access Journals (Sweden)

    Syed Amjad Ali

    2015-01-01

    Full Text Available The autonomous manipulation of the medical robotics is needed to draw up a complete surgical plan in development. The autonomy of the robot comes from the fact that once the plan is drawn up off-line, it is the servo loops, and only these, that control the actions of the robot online, based on instantaneous control signals and measurements provided by the vision or force sensors. Using only these autonomous techniques in medical and surgical robotics remain relatively limited for two main reasons: Predicting complexity of the gestures, and human Safety. Therefore, Modern research in haptic force feedback in medical robotics is aimed to develop medical robots capable of performing remotely, what a surgeon does by himself. These medical robots are supposed to work exactly in the manner that a surgeon does in daily routine. In this paper the master slave tele-robotic system is designed and implemented with accuracy and stability by using 6DOF (Six Degree of Freedom haptic force feedback devices. The master slave control strategy, haptic devices integration, application software designing using Visual C++ and experimental setup are considered. Finally, results are presented the stability, accuracy and repeatability of the system

  13. Drive Control System for Pipeline Crawl Robot Based on CAN Bus

    International Nuclear Information System (INIS)

    Chen, H J; Gao, B T; Zhang, X H; Deng, Z Q

    2006-01-01

    Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot

  14. Drive Control System for Pipeline Crawl Robot Based on CAN Bus

    Energy Technology Data Exchange (ETDEWEB)

    Chen, H J [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Gao, B T [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Zhang, X H [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Deng, Z Q [School of Mechanical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China)

    2006-10-15

    Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

  15. Trends in control and decision-making for human-robot collaboration systems

    CERN Document Server

    Zhang, Fumin

    2017-01-01

    This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human collaboration being necessary for the optimal operation of any robotic system, the contributors exploit a broad selection of such systems to demonstrate the importance of the subject, particularly where the environment is prone to uncertainty or complexity. They show how such human strengths as high-level decision-making, flexibility, and dexterity can be combined with robotic precision, and ability to perform task repetitively or in a dangerous environment. The book focuses on quantitative methods and control design for guaranteed robot performance and balanced human experience. Its contributions develop and expand upon material presented at various international conferences. They are organized into three parts covering: one-human–one-robot collaboration; one-human–multiple-robot collaboration; and human–swarm collaboration. Individual topic ar...

  16. Permanent Magnetic System Design for the Wall-Climbing Robot

    Directory of Open Access Journals (Sweden)

    W. Shen

    2006-01-01

    Full Text Available This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.

  17. A remote maintenance robot system for a pulsed nuclear reactor

    International Nuclear Information System (INIS)

    Thunborg, S.

    1987-01-01

    This paper presents a remote maintenance robot system for use in a hazardous environment. The system consists of turntable, robot and hoist subsystems which operate under the control of a supervisory computer to perform coordinated programmed maintenance operations on a pulsed nuclear reactor. The system is operational

  18. 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.

  19. [RESEARCH PROGRESS OF PERIPHERAL NERVE SURGERY ASSISTED BY Da Vinci ROBOTIC SYSTEM].

    Science.gov (United States)

    Shen, Jie; Song, Diyu; Wang, Xiaoyu; Wang, Changjiang; Zhang, Shuming

    2016-02-01

    To summarize the research progress of peripheral nerve surgery assisted by Da Vinci robotic system. The recent domestic and international articles about peripheral nerve surgery assisted by Da Vinci robotic system were reviewed and summarized. Compared with conventional microsurgery, peripheral nerve surgery assisted by Da Vinci robotic system has distinctive advantages, such as elimination of physiological tremors and three-dimensional high-resolution vision. It is possible to perform robot assisted limb nerve surgery using either the traditional brachial plexus approach or the mini-invasive approach. The development of Da Vinci robotic system has revealed new perspectives in peripheral nerve surgery. But it has still been at the initial stage, more basic and clinical researches are still needed.

  20. POLICE OFFICE MODEL IMPROVEMENT FOR SECURITY OF SWARM ROBOTIC SYSTEMS

    Directory of Open Access Journals (Sweden)

    I. A. Zikratov

    2014-09-01

    Full Text Available This paper focuses on aspects of information security for group of mobile robotic systems with swarm intellect. The ways for hidden attacks realization by the opposing party on swarm algorithm are discussed. We have fulfilled numerical modeling of potentially destructive information influence on the ant shortest path algorithm. We have demonstrated the consequences of attacks on the ant algorithm with different concentration in a swarm of subversive robots. Approaches are suggested for information security mechanisms in swarm robotic systems, based on the principles of centralized security management for mobile agents. We have developed the method of forming a self-organizing information security management system for robotic agents in swarm groups implementing POM (Police Office Model – a security model based on police offices, to provide information security in multi-agent systems. The method is based on the usage of police station network in the graph nodes, which have functions of identification and authentication of agents, identifying subversive robots by both their formal characteristics and their behavior in the swarm. We have suggested a list of software and hardware components for police stations, consisting of: communication channels between the robots in police office, nodes register, a database of robotic agents, a database of encryption and decryption module. We have suggested the variants of logic for the mechanism of information security in swarm systems with different temporary diagrams of data communication between police stations. We present comparative analysis of implementation of protected swarm systems depending on the functioning logic of police offices, integrated in swarm system. It is shown that the security model saves the ability to operate in noisy environments, when the duration of the interference is comparable to the time necessary for the agent to overcome the path between police stations.

  1. Robotic digital subtraction angiography systems within the hybrid operating room.

    Science.gov (United States)

    Murayama, Yuichi; Irie, Koreaki; Saguchi, Takayuki; Ishibashi, Toshihiro; Ebara, Masaki; Nagashima, Hiroyasu; Isoshima, Akira; Arakawa, Hideki; Takao, Hiroyuki; Ohashi, Hiroki; Joki, Tatsuhiro; Kato, Masataka; Tani, Satoshi; Ikeuchi, Satoshi; Abe, Toshiaki

    2011-05-01

    Fully equipped high-end digital subtraction angiography (DSA) within the operating room (OR) environment has emerged as a new trend in the fields of neurosurgery and vascular surgery. To describe initial clinical experience with a robotic DSA system in the hybrid OR. A newly designed robotic DSA system (Artis zeego; Siemens AG, Forchheim, Germany) was installed in the hybrid OR. The system consists of a multiaxis robotic C arm and surgical OR table. In addition to conventional neuroendovascular procedures, the system was used as an intraoperative imaging tool for various neurosurgical procedures such as aneurysm clipping and spine instrumentation. Five hundred one neurosurgical procedures were successfully conducted in the hybrid OR with the robotic DSA. During surgical procedures such as aneurysm clipping and arteriovenous fistula treatment, intraoperative 2-/3-dimensional angiography and C-arm-based computed tomographic images (DynaCT) were easily performed without moving the OR table. Newly developed virtual navigation software (syngo iGuide; Siemens AG) can be used in frameless navigation and in access to deep-seated intracranial lesions or needle placement. This newly developed robotic DSA system provides safe and precise treatment in the fields of endovascular treatment and neurosurgery.

  2. Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy

    OpenAIRE

    Su, Hao; Shang, Weijian; Cole, Gregory; Li, Gang; Harrington, Kevin; Camilo, Alexander; Tokuda, Junichi; Tempany, Clare M.; Hata, Nobuhiko; Fischer, Gregory S.

    2014-01-01

    This paper presents a fully-actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intra-operative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian...

  3. Processing of LLW arising from dismantling activities in a reprocessing facility

    International Nuclear Information System (INIS)

    Geens, L.G.; Geens, L.P.; Vandeven, I.

    1990-01-01

    The Eurochemic reprocessing facility, at the Mol-Dessel site in Belgium was in active operation from July 1966 until January 1975. In total, about 210 Mg of various types of irradiated nuclear fuels were processed. After the shut-down the plant has been partially decontaminated in view of recommissioning. When the recommissioning option was abandoned, the decision was taken in 1986 to dismantle the plant. A 2 years study resulted in the start of a pilot project: the dismantling of two smaller buildings, previously used for storage of uranyl nitrate and used solvent. The minimization of radioactive waste generation was also one of the major goals of this project. The report deals with the different steps in the minimization of radioactive waste generation during the dismantling activities. First, an estimation of the amounts of radioactive waste, expected to be generated, was made. In a second step the actual waste production during dismantling operations was minimized and compared with the estimations. Finally, a large part of the primary radioactive dismantling waste has been completely decontaminated, resulting in much lower amounts of nuclear waste generated. 2 refs., 3 figs., 2 tabs

  4. Robotic system construction with mechatronic components inverted pendulum: humanoid robot

    Science.gov (United States)

    Sandru, Lucian Alexandru; Crainic, Marius Florin; Savu, Diana; Moldovan, Cristian; Dolga, Valer; Preitl, Stefan

    2017-03-01

    Mechatronics is a new methodology used to achieve an optimal design of an electromechanical product. This methodology is collection of practices, procedures and rules used by those who work in particular branch of knowledge or discipline. Education in mechatronics at the Polytechnic University Timisoara is organized on three levels: bachelor, master and PhD studies. These activities refer and to design the mechatronics systems. In this context the design, implementation and experimental study of a family of mechatronic demonstrator occupy an important place. In this paper, a variant for a mechatronic demonstrator based on the combination of the electrical and mechanical components is proposed. The demonstrator, named humanoid robot, is equivalent with an inverted pendulum. Is presented the analyze of components for associated functions of the humanoid robot. This type of development the mechatronic systems by the combination of hardware and software, offers the opportunity to build the optimal solutions.

  5. Dismantling and decommissioning of Jose Cabrera nuclear power plant

    International Nuclear Information System (INIS)

    Rodriguez, A.

    2009-01-01

    With the start of the dismantling works at the Jose Cabrera nuclear power plant now in sight, this is an appropriate moment to look back and consider recent history. The first time that the issue of nuclear power plant dismantling was dealt with was in 1975, at a conference in Paris entitled Nuclear Energy Maturity. Up until then the entire question had been one of design, construction and operation, but since that moment and it has been quite a while since that conference dismantling has begun to be seen as just another activity in the nuclear cycle, a final activity that will sooner or later affect all the facilities, an activity different from its predecessors and with the ultimate objective of restoring the sites for whatever use might be determined. During the 1960s and 1970s, the construction of nuclear power plants was widespread across the entire world. It was the baby boom of nuclear energy and now, forty or fifty years later, we are seeing the arrival of the end of the service lifetime of these plants and are faced with the corresponding general process of dismantling these installations. The dismantling of nuclear power plants has ceased to be an emerging issue and is now consolidated as a regular activity in the nuclear industry, albeit an activity that lacks adequate financing or specific regulation in certain countries. Fortunately this is not the case in Spain, since economic provisions have been planned and the regulatory framework developed. In view of the above, the dismantling of the nuclear power plants is an industrial activity involving specific technologies that implies new professional and business opportunities that should be absorbed and seized by society. In Spain the path followed in this direction has been a long one, as is underlined by the experiences of dismantling the Argos (Barcelona, 1998- 2004) and Arbi (Bilbao, 2002-2005) research reactors, the Andujar Uranium Mill (Jaen, 1991-1995), the Vandellos I nuclear power plant

  6. Design of multifunction anti-terrorism robotic system based on police dog

    Science.gov (United States)

    You, Bo; Liu, Suju; Xu, Jun; Li, Dongjie

    2007-11-01

    Aimed at some typical constraints of police dogs and robots used in the areas of reconnaissance and counterterrorism currently, the multifunction anti-terrorism robotic system based on police dog has been introduced. The system is made up of two parts: portable commanding device and police dog robotic system. The portable commanding device consists of power supply module, microprocessor module, LCD display module, wireless data receiving and dispatching module and commanding module, which implements the remote control to the police dogs and takes real time monitor to the video and images. The police dog robotic system consists of microprocessor module, micro video module, wireless data transmission module, power supply module and offence weapon module, which real time collects and transmits video and image data of the counter-terrorism sites, and gives military attack based on commands. The system combines police dogs' biological intelligence with micro robot. Not only does it avoid the complexity of general anti-terrorism robots' mechanical structure and the control algorithm, but it also widens the working scope of police dog, which meets the requirements of anti-terrorism in the new era.

  7. Distributed Autonomous Robotic Systems : the 12th International Symposium

    CERN Document Server

    Cho, Young-Jo

    2016-01-01

    This volume of proceedings includes 32 original contributions presented at the 12th International Symposium on Distributed Autonomous Robotic Systems (DARS 2014), held in November 2014. The selected papers in this volume are authored by leading researchers from Asia, Europe, and the Americas, thereby providing a broad coverage and perspective of the state-of-the-art technologies, algorithms, system architectures, and applications in distributed robotic systems. .

  8. Development of wall ranging radiation inspection robot

    International Nuclear Information System (INIS)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S.

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall

  9. Development of wall ranging radiation inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall.

  10. The SEP "Robot": A Valid Virtual Reality Robotic Simulator for the Da Vinci Surgical System?

    NARCIS (Netherlands)

    van der Meijden, O. A. J.; Broeders, I. A. M. J.; Schijven, M. P.

    2010-01-01

    The aim of the study was to determine if the concept of face and construct validity may apply to the SurgicalSim Educational Platform (SEP) "robot" simulator. The SEP robot simulator is a virtual reality (VR) simulator aiming to train users on the Da Vinci Surgical System. To determine the SEP's

  11. Lessons learned. Optimization of the plant structure at the beginning of the dismantling process

    International Nuclear Information System (INIS)

    Sesterhenn, Kurt

    2008-01-01

    The processes of shutdown and dismantling of the NPP Muehlheim-Kaerlich included several steps: conservation operation including fuel element removal, decontamination and radiological characterization, conservation of components that may still be used, removal and disposal of operating supply items, preparation of concepts for the dismantling process and realization of dismantling. The authors describe in detail the safety concept, the waste tracking program, the operational organization and reduction of area subject to radiological surveillance during the dismantling and renaturation project.

  12. Hybrid robotic systems for upper limb rehabilitation after stroke: A review.

    Science.gov (United States)

    Resquín, Francisco; Cuesta Gómez, Alicia; Gonzalez-Vargas, Jose; Brunetti, Fernando; Torricelli, Diego; Molina Rueda, Francisco; Cano de la Cuerda, Roberto; Miangolarra, Juan Carlos; Pons, José Luis

    2016-11-01

    In recent years the combined use of functional electrical stimulation (FES) and robotic devices, called hybrid robotic rehabilitation systems, has emerged as a promising approach for rehabilitation of lower and upper limb motor functions. This paper presents a review of the state of the art of current hybrid robotic solutions for upper limb rehabilitation after stroke. For this aim, studies have been selected through a search using web databases: IEEE-Xplore, Scopus and PubMed. A total of 10 different hybrid robotic systems were identified, and they are presented in this paper. Selected systems are critically compared considering their technological components and aspects that form part of the hybrid robotic solution, the proposed control strategies that have been implemented, as well as the current technological challenges in this topic. Additionally, we will present and discuss the corresponding evidences on the effectiveness of these hybrid robotic therapies. The review also discusses the future trends in this field. Copyright © 2016 IPEM. Published by Elsevier Ltd. All rights reserved.

  13. A real time tracking vision system and its application to robotics

    International Nuclear Information System (INIS)

    Inoue, Hirochika

    1994-01-01

    Among various sensing channels the vision is most important for making robot intelligent. If provided with a high speed visual tracking capability, the robot-environment interaction becomes dynamic instead of static, and thus the potential repertoire of robot behavior becomes very rich. For this purpose we developed a real-time tracking vision system. The fundamental operation on which our system based is the calculation of correlation between local images. Use of special chip for correlation and the multi-processor configuration enable the robot to track more than hundreds cues in full video rate. In addition to the fundamental visual performance, applications for robot behavior control are also introduced. (author)

  14. A study on dynamically reconfigurable robotic systems, 3

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Kawauchi, Yoshio; Buss, M.; Asama, Hajime.

    1990-01-01

    The dynamically reconfigurable robotic system (DRRS) is a new kind of robotic system which is able to reconfigurate itself to an optimal structure depending on the purpose and exvironment. To realize this concept, we proposed the CEBOT (cell-structured robot). Communication is needed in the CEBOT system as follows. When cells are separated, a communication master cell needs to know the other cell's function and position and determine the target cell for docking. Mobile cells should be able to coordinate with other mobile cell. When cells are docked, forming a cell structure/module, a master cell should control the bending joint cell and know which cells the construction is composed of. In this paper, we propose a communication protocol for both cases with optical sensor applicable to CEBOT. Some experimental results are shown by realizing the proposed communication method between cells. (author)

  15. Robot-arm-based mobile HTS SQUID system for NDE of structures

    Energy Technology Data Exchange (ETDEWEB)

    Yotsugi, K; Hatsukade, Y; Tanaka, S [Department of Ecological Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tenpaku-cho, Toyohashi, Aichi 441-8580 (Japan)], E-mail: hatukade@eco.tut.ac.jp

    2008-02-01

    A robot-arm-based mobile HTS SQUID system was developed for NDE of fixed targets. To realize the system, active magnetic shielding technique using fluxgate as reference sensor for ambient field was applied to a cryocooler-based HTS SQUID gradiometer that was mounted on commercial robot-arm. In this technique, ambient field noise and pulse noise of 550 nT from robot were measured by the fluxgate near the SQUID, and then the fluxgate output was negatively fed back to generate compensation field around the SQUID and fluxgate. The noise from robot was reduced by a factor of about 20 and the shielding technique enabled the HTS SQUID to move in unshielded environment by the robot-arm without flux-trapping or unlocking at 10 mm/s. System noise measurement and inspection of hidden cracks in multi-layer composite-metal structure were demonstrated using the mobile SQUID-NDE system.

  16. Experiments on mobile robot stereo vision system calibration under hardware imperfection

    Directory of Open Access Journals (Sweden)

    Safin Ramil

    2018-01-01

    Full Text Available Calibration is essential for any robot vision system for achieving high accuracy in deriving objects metric information. One of typical requirements for a stereo vison system in order to obtain better calibration results is to guarantee that both cameras keep the same vertical level. However, cameras may be displaced due to severe conditions of a robot operating or some other circumstances. This paper presents our experimental approach to the problem of a mobile robot stereo vision system calibration under a hardware imperfection. In our experiments, we used crawler-type mobile robot «Servosila Engineer». Stereo system cameras of the robot were displaced relative to each other, causing loss of surrounding environment information. We implemented and verified checkerboard and circle grid based calibration methods. The two methods comparison demonstrated that a circle grid based calibration should be preferred over a classical checkerboard calibration approach.

  17. Motion and operation planning of robotic systems background and practical approaches

    CERN Document Server

    Gomez-Barvo, Fernando

    2015-01-01

    This book addresses the broad multi-disciplinary topic of robotics, and presents the basic techniques for motion and operation planning in robotics systems. Gathering contributions from experts in diverse and wide ranging fields, it offers an overview of the most recent and cutting-edge practical applications of these methodologies. It covers both theoretical and practical approaches, and elucidates the transition from theory to implementation. An extensive analysis is provided, including humanoids, manipulators, aerial robots and ground mobile robots. ‘Motion and Operation Planning of Robotic Systems’ addresses the following topics: *The theoretical background of robotics. *Application of motion planning techniques to manipulators, such as serial and parallel manipulators. *Mobile robots planning, including robotic applications related to aerial robots, large scale robots and traditional wheeled robots. *Motion planning for humanoid robots. An invaluable reference text for graduate students and researche...

  18. Ideas on a system design for end-user robots

    Science.gov (United States)

    Bonasso, R. P.; Slack, Marc G.

    1992-11-01

    Robots are being used successfully in factory automation; however, recently there has been some success in building robots which can operate in field environments, where the domain is less predictable. New perception and control techniques have been developed which allow a robot to accomplish its mission while dealing with natural changes in both land and underwater environments. Unfortunately, efforts in this area have resulted in many one-of-a-kind robots, limited to research laboratories or carefully delimited field task arenas. A user who would like to apply robotic technology to a particular field problem must basically start from scratch. The problem is that the robotic technology (i.e., the hardware and software) which might apply to the user's domain exists in a diverse array of formats and configurations. For end-user robots to become a reality, an effort to standardize some aspects of the robotic technology must be made, in much the same way that personal computer technology is becoming standardized. Presently, a person can buy a computer and then acquire hardware and software extensions which simply `plug in' and provide the user with the required utility without the user having to understand the inner workings of the pieces of the system. This technology even employs standardized interface specifications so the user is presented with a familiar interaction paradigm. This paper outlines some system requirements (hardware and software) and a preliminary design for end-user robots for field environments, drawing parallels to the trends in the personal computer market. The general conclusion is that the appropriate components as well as an integrating architecture are already available, making development of out-of-the- box, turnkey robots for a certain range of commonly required tasks a potential reality.

  19. Dismantling and decontamination of the PIVER prototype vitrification facility

    International Nuclear Information System (INIS)

    Jouan, A.

    1989-01-01

    The PIVER facility was dismantled for replacement by a new continuous pilot plant. The more important operation concerns the vitrification cell, containing equipments of the process, for complete disposal and maximum decontamination, requiring dismantling, cutting, conditioning and removal of equipment inside the cell. Manipulators, handling and cutting tools were used. Activity of removed material and irradiation of personal are followed during the work for matching intervention means to operation conditions [fr

  20. Utilizing Robot Operating System (ROS) in Robot Vision and Control

    Science.gov (United States)

    2015-09-01

    Palmer, “Development of a navigation system for semi-autonomous operation of wheelchairs,” in Proc. of the 8th IEEE/ASME Int. Conf. on Mechatronic ...and Embedded Systems and Applications, Suzhou, China, 2012, pp. 257-262. [30] G. Grisetti, C. Stachniss, and W. Burgard, “Improving grid-based SLAM...OPERATING SYSTEM (ROS) IN ROBOT VISION AND CONTROL by Joshua S. Lum September 2015 Thesis Advisor: Xiaoping Yun Co-Advisor: Zac Staples

  1. Drafting of the dismantling operations of the MAR 200 workshop with the help of virtual reality

    International Nuclear Information System (INIS)

    Chabal, C.; Soulabaille, Y.; Garnier, T.; Callixte, O.

    2014-01-01

    In order to optimize future dismantling operations of nuclear installations virtual reality allows the validation of predefined scenarios and their adequacy with the environment. CEA uses an immersion and interactive room to validate maintenance and dismantling operations. The equipment of this room is composed of a video wall that gives a 3-dimensional view of the virtual environment, and of a system for motion capture. For the simulation of handling operations a haptic interface has been designed, it allows the user to receive a tactic and effort-feeling feed back. The immersion is completed by a phonic ambience that creates sounds for virtual operations. The use of the immersion room for optimizing the dismantling of a spent fuel dissolver (MAR 200) used in hot cell is presented. (A.C.)

  2. Sensor-guided parking system for a carlike robot

    Science.gov (United States)

    Jiang, Kaichum; Seneviratne, L. D.

    1998-07-01

    This paper presents an automated parking strategy for a car- like mobile robot. The study considers general parking manoeuvre cases for a rectangular robot, including parallel parking. The robot is constructed simulating a conventional car, which is subject to non-holonomic constraints and thus only has two degrees of freedom. The parking space is considered as rectangular, and detected by ultrasonic sensors mounted on the robot. A motion planning algorithm develops a collision-free path for parking, taking into account the non- holonomic constraints acting on the car-like robot. A research into general car maneuvers has been conducted and useful results have been achieved. The motion planning algorithm uses these results, combined with configuration space method, to produce a collision-free path for parallel parking, depending on the parking space detected. A control program in the form of a graphical user interface has been developed for users to operate the system with ease. The strategy is implemented on a modified B12 mobile robot. The strategy presented has the potential for application in automobiles.

  3. Towards an automated checked baggage inspection system augmented with robots

    Science.gov (United States)

    DeDonato, Matthew P.; Dimitrov, Velin; Padır, Taskin

    2014-05-01

    We present a novel system for enhancing the efficiency and accuracy of checked baggage screening process at airports. The system requirements address the identification and retrieval of objects of interest that are prohibited in a checked luggage. The automated testbed is comprised of a Baxter research robot designed by Rethink Robotics for luggage and object manipulation, and a down-looking overhead RGB-D sensor for inspection and detection. We discuss an overview of current system implementations, areas of opportunity for improvements, robot system integration challenges, details of the proposed software architecture and experimental results from a case study for identifying various kinds of lighters in checked bags.

  4. Virtual Reality Simulator Systems in Robotic Surgical Training.

    Science.gov (United States)

    Mangano, Alberto; Gheza, Federico; Giulianotti, Pier Cristoforo

    2018-06-01

    The number of robotic surgical procedures has been increasing worldwide. It is important to maximize the cost-effectiveness of robotic surgical training and safely reduce the time needed for trainees to reach proficiency. The use of preliminary lab training in robotic skills is a good strategy for the rapid acquisition of further, standardized robotic skills. Such training can be done either by using a simulator or by exercises in a dry or wet lab. While the use of an actual robotic surgical system for training may be problematic (high cost, lack of availability), virtual reality (VR) simulators can overcome many of these obstacles. However, there is still a lack of standardization. Although VR training systems have improved, they cannot yet replace experience in a wet lab. In particular, simulated scenarios are not yet close enough to a real operative experience. Indeed, there is a difference between technical skills (i.e., mechanical ability to perform a simulated task) and surgical competence (i.e., ability to perform a real surgical operation). Thus, while a VR simulator can replace a dry lab, it cannot yet replace training in a wet lab or operative training in actual patients. However, in the near future, it is expected that VR surgical simulators will be able to provide total reality simulation and replace training in a wet lab. More research is needed to produce more wide-ranging, trans-specialty robotic curricula.

  5. Interactive robot control system and method of use

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Reiland, Matthew J. (Inventor); Abdallah, Muhammad E. (Inventor); Linn, Douglas Martin (Inventor); Platt, Robert (Inventor)

    2012-01-01

    A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

  6. DETAILS OF OPERATIONS PERFORMED BY THE REMOTE CONTROL ROBOT (CONCEPT TO THE HORIZONTAL FUEL CHANNEL DURING DECOMMISSIONING PHASE OF NUCLEAR REACTOR CALANDRIA STRUCTURE. PART II: INSIDE OPERATIONS

    Directory of Open Access Journals (Sweden)

    Constantin POPESCU

    2017-05-01

    Full Text Available The authors contribution to this paper is to present a concept solution of a remote control robot (RCR used for decommissioning of the horizontal fuel channels pressure tube in the CANDU nuclear reactor. In this paper the authors highlight few details of geometry, operations, constraints by kinematics and dynamics of the robot movement inside of the reactor fuel channel. Inside operations performed has as the main steps of dismantling process the followings: unblock and extract the channel closure plug (from End Fitting - EF, unblock and extract the channel shield plug (from Lattice Tube - LT, cut the ends of the pressure tube, extract the pressure tube and cut it in small parts, sorting and storage extracted items in the safe robot container. All steps are performed in automatic mode. The remote control robot (RCR represents a safety system controlled by sensors and has the capability to analyze any error registered and decide next activities or abort the inside decommissioning procedure in case of any risk rise in order to ensure the environmental and workers protection.

  7. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm.

    Science.gov (United States)

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae; Kim, Tae Il; Yi, Byung Ju

    2017-01-01

    Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site.

  8. Development of a Robotic Colonoscopic Manipulation System, Using Haptic Feedback Algorithm

    Science.gov (United States)

    Woo, Jaehong; Choi, Jae Hyuk; Seo, Jong Tae

    2017-01-01

    Purpose Colonoscopy is one of the most effective diagnostic and therapeutic tools for colorectal diseases. We aim to propose a master-slave robotic colonoscopy that is controllable in remote site using conventional colonoscopy. Materials and Methods The master and slave robot were developed to use conventional flexible colonoscopy. The robotic colonoscopic procedure was performed using a colonoscope training model by one expert endoscopist and two unexperienced engineers. To provide the haptic sensation, the insertion force and the rotating torque were measured and sent to the master robot. Results A slave robot was developed to hold the colonoscopy and its knob, and perform insertion, rotation, and two tilting motions of colonoscope. A master robot was designed to teach motions of the slave robot. These measured force and torque were scaled down by one tenth to provide the operator with some reflection force and torque at the haptic device. The haptic sensation and feedback system was successful and helpful to feel the constrained force or torque in colon. The insertion time using robotic system decreased with repeated procedures. Conclusion This work proposed a robotic approach for colonoscopy using haptic feedback algorithm, and this robotic device would effectively perform colonoscopy with reduced burden and comparable safety for patients in remote site. PMID:27873506

  9. Towards Sociable Robots

    DEFF Research Database (Denmark)

    Ngo, Trung Dung

    This thesis studies aspects of self-sufficient energy (energy autonomy) for truly autonomous robots and towards sociable robots. Over sixty years of history of robotics through three developmental ages containing single robot, multi-robot systems, and social (sociable) robots, the main objective...... of roboticists mostly focuses on how to make a robotic system function autonomously and further, socially. However, such approaches mostly emphasize behavioural autonomy, rather than energy autonomy which is the key factor for not only any living machine, but for life on the earth. Consequently, self......-sufficient energy is one of the challenges for not only single robot or multi-robot systems, but also social and sociable robots. This thesis is to deal with energy autonomy for multi-robot systems through energy sharing (trophallaxis) in which each robot is equipped with two capabilities: self-refueling energy...

  10. A direct methanol fuel cell system to power a humanoid robot

    Science.gov (United States)

    Joh, Han-Ik; Ha, Tae Jung; Hwang, Sang Youp; Kim, Jong-Ho; Chae, Seung-Hoon; Cho, Jae Hyung; Prabhuram, Joghee; Kim, Soo-Kil; Lim, Tae-Hoon; Cho, Baek-Kyu; Oh, Jun-Ho; Moon, Sang Heup; Ha, Heung Yong

    In this study, a direct methanol fuel cell (DMFC) system, which is the first of its kind, has been developed to power a humanoid robot. The DMFC system consists of a stack, a balance of plant (BOP), a power management unit (PMU), and a back-up battery. The stack has 42 unit cells and is able to produce about 400 W at 19.3 V. The robot is 125 cm tall, weighs 56 kg, and consumes 210 W during normal operation. The robot is integrated with the DMFC system that powers the robot in a stable manner for more than 2 h. The power consumption by the robot during various motions is studied, and load sharing between the fuel cell and the back-up battery is also observed. The loss of methanol feed due to crossover and evaporation amounts to 32.0% and the efficiency of the DMFC system in terms of net electric power is 22.0%.

  11. Exoskeletons, Robots and System Software: Tools for the Warfighter

    Science.gov (United States)

    2012-04-24

    Exoskeletons , Robots and System Software: Tools for the Warfighter? Paul Flanagan, Tuesday, April 24, 2012 11:15 am– 12:00 pm 1 “The views...Emerging technologies such as exoskeletons , robots , drones, and the underlying software are and will change the face of the battlefield. Warfighters will...global hub for educating, informing, and connecting Information Age leaders.” What is an exoskeleton ? An exoskeleton is a wearable robot suit that

  12. Adaptation of high pressure water jets with abrasives for nuclear installations dismantling

    International Nuclear Information System (INIS)

    Rouviere, R.; Pinault, M.; Gasc, B.; Guiadeur, R.; Pilot, M.

    1989-01-01

    This report presents the work realized for adjust the cutting technology with high pressure water jet with abrasives for nuclear installation dismantling. It has necessited the conception and the adjustement of a remote tool and the realization of cutting tests with waste produce analysis. This technic can be ameliorated with better viewing systems and better fog suction systems

  13. Virtual Reality Robotic Operation Simulations Using MEMICA Haptic System

    Science.gov (United States)

    Bar-Cohen, Y.; Mavroidis, C.; Bouzit, M.; Dolgin, B.; Harm, D. L.; Kopchok, G. E.; White, R.

    2000-01-01

    There is an increasing realization that some tasks can be performed significantly better by humans than robots but, due to associated hazards, distance, etc., only a robot can be employed. Telemedicine is one area where remotely controlled robots can have a major impact by providing urgent care at remote sites. In recent years, remotely controlled robotics has been greatly advanced. The robotic astronaut, "Robonaut," at NASA Johnson Space Center is one such example. Unfortunately, due to the unavailability of force and tactile feedback capability the operator must determine the required action using only visual feedback from the remote site, which limits the tasks that Robonaut can perform. There is a great need for dexterous, fast, accurate teleoperated robots with the operator?s ability to "feel" the environment at the robot's field. Recently, we conceived a haptic mechanism called MEMICA (Remote MEchanical MIrroring using Controlled stiffness and Actuators) that can enable the design of high dexterity, rapid response, and large workspace system. Our team is developing novel MEMICA gloves and virtual reality models to allow the simulation of telesurgery and other applications. The MEMICA gloves are designed to have a high dexterity, rapid response, and large workspace and intuitively mirror the conditions at a virtual site where a robot is simulating the presence of the human operator. The key components of MEMICA are miniature electrically controlled stiffness (ECS) elements and Electrically Controlled Force and Stiffness (ECFS) actuators that are based on the sue of Electro-Rheological Fluids (ERF). In this paper the design of the MEMICA system and initial experimental results are presented.

  14. Robotic system for process sampling

    International Nuclear Information System (INIS)

    Dyches, G.M.

    1985-01-01

    A three-axis cartesian geometry robot for process sampling was developed at the Savannah River Laboratory (SRL) and implemented in one of the site radioisotope separations facilities. Use of the robot reduces personnel radiation exposure and contamination potential by routinely handling sample containers under operator control in a low-level radiation area. This robot represents the initial phase of a longer term development program to use robotics for further sample automation. Preliminary design of a second generation robot with additional capabilities is also described. 8 figs

  15. Enhancing the effectiveness of human-robot teaming with a closed-loop system.

    Science.gov (United States)

    Teo, Grace; Reinerman-Jones, Lauren; Matthews, Gerald; Szalma, James; Jentsch, Florian; Hancock, Peter

    2018-02-01

    With technological developments in robotics and their increasing deployment, human-robot teams are set to be a mainstay in the future. To develop robots that possess teaming capabilities, such as being able to communicate implicitly, the present study implemented a closed-loop system. This system enabled the robot to provide adaptive aid without the need for explicit commands from the human teammate, through the use of multiple physiological workload measures. Such measures of workload vary in sensitivity and there is large inter-individual variability in physiological responses to imposed taskload. Workload models enacted via closed-loop system should accommodate such individual variability. The present research investigated the effects of the adaptive robot aid vs. imposed aid on performance and workload. Results showed that adaptive robot aid driven by an individualized workload model for physiological response resulted in greater improvements in performance compared to aid that was simply imposed by the system. Copyright © 2017 Elsevier Ltd. All rights reserved.

  16. Implementing real-time robotic systems using CHIMERA II

    Science.gov (United States)

    Stewart, David B.; Schmitz, Donald E.; Khosla, Pradeep K.

    1990-01-01

    A description is given of the CHIMERA II programming environment and operating system, which was developed for implementing real-time robotic systems. Sensor-based robotic systems contain both general- and special-purpose hardware, and thus the development of applications tends to be a time-consuming task. The CHIMERA II environment is designed to reduce the development time by providing a convenient software interface between the hardware and the user. CHIMERA II supports flexible hardware configurations which are based on one or more VME-backplanes. All communication across multiple processors is transparent to the user through an extensive set of interprocessor communication primitives. CHIMERA II also provides a high-performance real-time kernel which supports both deadline and highest-priority-first scheduling. The flexibility of CHIMERA II allows hierarchical models for robot control, such as NASREM, to be implemented with minimal programming time and effort.

  17. Nuclear cleanup and decontamination for dismantling operations

    International Nuclear Information System (INIS)

    Bargues, S.; Solignac, Y.; Lapierre, Y.

    2003-01-01

    In the May 2003 issue of the review 'Controle', the French Nuclear Safety Authority (Autorite de Surete Nucleaire or ASN) reviewed the radiation protection and waste management principles applicable to dismantling operations carried out on nuclear installations, i.e. reactors, research laboratories, fuel cycle installations and nuclear power reactors. Estelle Chapelain, of the DGSNR (French General Directorate for Nuclear Safety and Radiation Protection), pointed out that dismantling work does not involve the same radioactive risks as operating an installation. For instance, 'the risk of disseminating radioactive material is generally greater because the dismantling process supposes the removal of one or more containment barriers'. In addition to this risk of internal exposure, the possibility of external irradiation of personnel must be taken into account due to the nature of the work carried out by the operators. The probability of conventional hazards is also accentuated, these hazards varying as work progresses (fire hazards during cutting operations, hazards associated with handling tasks, etc). Other risks must also be considered: hazards due to the ageing of installations, to loss of traceability, and finally the risks associated with waste management. Waste management falls within a strict regulatory framework specified by the decree dated December 31, 1999, which makes it compulsory to carry out a 'waste survey' with the aim of producing an inventory of waste and improving waste management. These surveys include 'waste zoning' to identify those areas liable to have been contaminated. These requirements lead operators to adapt their cleanup methodology in order to distinguish suspect rooms or equipment from those that can be deemed with certainty to be conventional. In its conclusion, the safety authority recalls the importance of 'the safety and radiation protection of dismantling operations being effectively managed and optimised, without imposing

  18. Design on a Composite Mobile System for Exploration Robot

    Directory of Open Access Journals (Sweden)

    Weiyan Shang

    2016-01-01

    Full Text Available In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been studied. Firstly, a simplified dynamic model has been established, and then by affecting factors analysis on ride performance, an optimization model for suspension parameters has been presented. Using NSGA-II method, a set of nondominated solutions for suspension parameters has been gotten, and by weighing the importance of the objective function, an optimal solution has been selected to be applied on suspension design. As the wheel-tracked exploration robot has been designed and manufactured, the property test has been conducted. By testing on physical prototype, the robot’s ability to surmount complex terrain has been verified. Design of the wheel-tracked robot will provide a stable platform for field exploration tasks, and in addition, the certain configuration and suspension parameters optimization method will provide reference to other robot designs.

  19. Experience in dismantling and packaging of pressure vessel and core internals

    International Nuclear Information System (INIS)

    Pillokat, Peter; Bruhn, Jan Hendrik

    2011-01-01

    Nuclear Company AREVA is proud to look back on versatile experience in successfully dismantling nuclear components. After performing several minor dismantling projects and studies for nuclear power plants, AREVA completed the order for dismantling of all remaining Reactor Pressure Vessel internals at German Boiling Water Reactor Wuergassen NPP in October '08. During the onsite activities about 121 tons of steel were successfully cut and packed under water into 200l- drums, as the dismantling was performed partly in situ and partly in an underwater working tank. AREVA deployed a variety of different cutting techniques such as band sawing, milling, nibbling, compass sawing and water jet cutting throughout this project. After successfully finishing this task, AREVA dismantled the cylindrical part of the Wuergassen Pressure Vessel. During this project approximately 320 tons of steel were cut and packaged for final disposal, as dismantling was mainly performed by on air use of water jet cutting with vacuum suction of abrasive and kerfs material. The main clue during this assignment was the logistic challenge to handle and convey cut pieces from the pressure vessel to the packing area. For this, an elevator was installed to transport cut segments into the turbine hall, where a special housing was built for final storage conditioning. At the beginning of 2007, another complex dismantling project of great importance was acquired by AREVA. The contract included dismantling and conditioning for final storage of the complete RPV Internals of the German Pressurized Water Reactor Stade NPP. Very similar cutting techniques turned out to be the proper policy to cope this task. On-site activities took place in up to 5 separate working areas including areas for post segmentation and packaging to perform optimized parallel activities. All together about 85 tons of Core Internals were successfully dismantled at Stade NPP until September '09. To accomplish the best possible on

  20. 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

  1. The development of robot system for pressurizer maintenance in NPPs

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Kim, Chang Hoi; Jung, Seung Ho; Seo, Yong Chil; Lee, Young Kwang; Go, Byung Yung; Lee, Kwang Won; Lee, Sang Ill; Yun, Jong Yeon; Lee, Hyung Soon; Park, Mig Non; Park, Chang Woo; Cheol, Kwon

    1999-12-01

    The pressurizer that controls the pressure variation of primary coolant system, consists of a vessel, electric heaters and a spray, is one of the safety related equipment in nuclear power plants. Therefore it is required to inspect and maintain it regularly. Because the inside of pressurizer os contaminated by radioactivity, when inspection and repairing it, the radiation exposure of workers is inevitable. In this research two robot system has been developed for inspection and maintenance of the pressurizer for the water filled case and the water sunken case. The one robot system for the water filled case consists of two links, movable gripper using wire string, and support frame for the attachment of robot. The other robot is equipped propeller in order to navigate on the water. It also equipped high performance water resistance camera to make inspection possible. The developed robots are designed under several constraints such as its weight and collision with pressurizer wall. To verify the collision free robot link length and accessibility to the any desired rod heater it is simulated by 3-dimensional graphic simulation software(RobCard). For evaluation stress of the support frame finite element analysis is performed by using the ANSYS code. (author)

  2. The SEP "robot": a valid virtual reality robotic simulator for the Da Vinci Surgical System?

    Science.gov (United States)

    van der Meijden, O A J; Broeders, I A M J; Schijven, M P

    2010-04-01

    The aim of the study was to determine if the concept of face and construct validity may apply to the SurgicalSim Educational Platform (SEP) "robot" simulator. The SEP robot simulator is a virtual reality (VR) simulator aiming to train users on the Da Vinci Surgical System. To determine the SEP's face validity, two questionnaires were constructed. First, a questionnaire was sent to users of the Da Vinci system (reference group) to determine a focused user-group opinion and their recommendations concerning VR-based training applications for robotic surgery. Next, clinical specialists were requested to complete a pre-tested face validity questionnaire after performing a suturing task on the SEP robot simulator. To determine the SEP's construct validity, outcome parameters of the suturing task were compared, for example, relative to participants' endoscopic experience. Correlations between endoscopic experience and outcome parameters of the performed suturing task were tested for significance. On an ordinal five-point, scale the average score for the quality of the simulator software was 3.4; for its hardware, 3.0. Over 80% agreed that it is important to train surgeons and surgical trainees to use the Da Vinci. There was a significant but marginal difference in tool tip trajectory (p = 0.050) and a nonsignificant difference in total procedure time (p = 0.138) in favor of the experienced group. In conclusion, the results of this study reflect a uniform positive opinion using VR training in robotic surgery. Concepts of face and construct validity of the SEP robotic simulator are present; however, these are not strong and need to be improved before implementation of the SEP robotic simulator in its present state for a validated training curriculum to be successful .

  3. Infrared Sensor System for Mobile-Robot Positioning in Intelligent Spaces

    Directory of Open Access Journals (Sweden)

    Luis Pallarés Puerto

    2011-05-01

    Full Text Available The aim of this work was to position a Mobile Robot in an Intelligent Space, and this paper presents a sensorial system for measuring differential phase-shifts in a sinusoidally modulated infrared signal transmitted from the robot. Differential distances were obtained from these phase-shifts, and the position of the robot was estimated by hyperbolic trilateration. Due to the extremely severe trade-off between SNR, angle (coverage and real-time response, a very accurate design and device selection was required to achieve good precision with wide coverage and acceptable robot speed. An I/Q demodulator was used to measure phases with one-stage synchronous demodulation to DC. A complete set of results from real measurements, both for distance and position estimations, is provided to demonstrate the validity of the system proposed, comparing it with other similar indoor positioning systems.

  4. Hydraulic bilateral construction robot; Yuatsushiki bilateral kensetsu robot

    Energy Technology Data Exchange (ETDEWEB)

    Maehata, K.; Mori, N. [Kayaba Industry Co. Ltd., Tokyo (Japan)

    1999-05-15

    Concerning a hydraulic bilateral construction robot, its system constitution, structures and functions of important components, and the results of some tests are explained, and the researches conducted at Gifu University are described. The construction robot in this report is a servo controlled system of a version developed from the mini-shovel now available in the market. It is equipped, in addition to an electrohydraulic servo control system, with various sensors for detecting the robot attitude, vibration, and load state, and with a camera for visualizing the surrounding landscape. It is also provided with a bilateral joy stick which is a remote control actuator capable of working sensation feedback and with a rocking unit that creates robot movements of rolling, pitching, and heaving. The construction robot discussed here, with output increased and response faster thanks to the employment of a hydraulic driving system for the aim of building a robot system superior in performance to the conventional model designed primarily for heavy duty, proves after tests to be a highly sophisticated remotely controlled robot control system. (NEDO)

  5. Foraging behavior analysis of swarm robotics system

    Directory of Open Access Journals (Sweden)

    Sakthivelmurugan E.

    2018-01-01

    Full Text Available Swarm robotics is a number of small robots that are synchronically works together to accomplish a given task. Swarm robotics faces many problems in performing a given task. The problems are pattern formation, aggregation, Chain formation, self-assembly, coordinated movement, hole avoidance, foraging and self-deployment. Foraging is most essential part in swarm robotics. Foraging is the task to discover the item and get back into the shell. The researchers conducted foraging experiments with random-movement of robots and they have end up with unique solutions. Most of the researchers have conducted experiments using the circular arena. The shell is placed at the centre of the arena and environment boundary is well known. In this study, an attempt is made to different strategic movements like straight line approach, parallel line approach, divider approach, expanding square approach, and parallel sweep approach. All these approaches are to be simulated by using player/stage open-source simulation software based on C and C++ programming language in Linux operating system. Finally statistical comparison will be done with task completion time of all these strategies using ANOVA to identify the significant searching strategy.

  6. SVM-Based Control System for a Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Foudil Abdessemed

    2012-12-01

    Full Text Available Real systems are usually non-linear, ill-defined, have variable parameters and are subject to external disturbances. Modelling these systems is often an approximation of the physical phenomena involved. However, it is from this approximate system of representation that we propose - in this paper - to build a robust control, in the sense that it must ensure low sensitivity towards parameters, uncertainties, variations and external disturbances. The computed torque method is a well-established robot control technique which takes account of the dynamic coupling between the robot links. However, its main disadvantage lies on the assumption of an exactly known dynamic model which is not realizable in practice. To overcome this issue, we propose the estimation of the dynamics model of the nonlinear system with a machine learning regression method. The output of this regressor is used in conjunction with a PD controller to achieve the tracking trajectory task of a robot manipulator. In cases where some of the parameters of the plant undergo a change in their values, poor performance may result. To cope with this drawback, a fuzzy precompensator is inserted to reinforce the SVM computed torque-based controller and avoid any deterioration. The theory is developed and the simulation results are carried out on a two-degree of freedom robot manipulator to demonstrate the validity of the proposed approach.

  7. Development and validation of a composite scoring system for robot-assisted surgical training--the Robotic Skills Assessment Score.

    Science.gov (United States)

    Chowriappa, Ashirwad J; Shi, Yi; Raza, Syed Johar; Ahmed, Kamran; Stegemann, Andrew; Wilding, Gregory; Kaouk, Jihad; Peabody, James O; Menon, Mani; Hassett, James M; Kesavadas, Thenkurussi; Guru, Khurshid A

    2013-12-01

    A standardized scoring system does not exist in virtual reality-based assessment metrics to describe safe and crucial surgical skills in robot-assisted surgery. This study aims to develop an assessment score along with its construct validation. All subjects performed key tasks on previously validated Fundamental Skills of Robotic Surgery curriculum, which were recorded, and metrics were stored. After an expert consensus for the purpose of content validation (Delphi), critical safety determining procedural steps were identified from the Fundamental Skills of Robotic Surgery curriculum and a hierarchical task decomposition of multiple parameters using a variety of metrics was used to develop Robotic Skills Assessment Score (RSA-Score). Robotic Skills Assessment mainly focuses on safety in operative field, critical error, economy, bimanual dexterity, and time. Following, the RSA-Score was further evaluated for construct validation and feasibility. Spearman correlation tests performed between tasks using the RSA-Scores indicate no cross correlation. Wilcoxon rank sum tests were performed between the two groups. The proposed RSA-Score was evaluated on non-robotic surgeons (n = 15) and on expert-robotic surgeons (n = 12). The expert group demonstrated significantly better performance on all four tasks in comparison to the novice group. Validation of the RSA-Score in this study was carried out on the Robotic Surgical Simulator. The RSA-Score is a valid scoring system that could be incorporated in any virtual reality-based surgical simulator to achieve standardized assessment of fundamental surgical tents during robot-assisted surgery. Copyright © 2013 Elsevier Inc. All rights reserved.

  8. Safeguards and security considerations for automated and robotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Jordan, S.E.; Jaeger, C.D.

    1994-09-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A&R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S&S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S&S into the design of future A&R systems. Towards this, the authors first examined existing A and R systems from a security perspective to identify areas of concern and possible solutions of these problems. They then were able to develop generalized S&S guidance and design considerations for automation and robotics.

  9. An approach to software quality assurance for robotic inspection systems

    International Nuclear Information System (INIS)

    Kiebel, G.R.

    1993-10-01

    Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that the systems operate safely and reliably and pose a minimum risk to humans and the environment. This paper describes the SQA approach for the control and data acquisition system for a robotic system being developed for remote surveillance and inspection of underground storage tanks (UST) at the Hanford Site

  10. REUSE OF AUTOMOTIVE COMPONENTS FROM DISMANTLED END OF LIFE VEHICLES

    Directory of Open Access Journals (Sweden)

    Piotr NOWAKOWSKI

    2013-12-01

    Full Text Available The problem of recycling end of life automotive vehicles is serious worldwide. It is one of the most important streams of waste in developed countries. It has big importance as recycling potential of raw materials content in automotive vehicles is valuable. Different parts and assemblies after dismantling can also be reused in vehicles where replacement of specific component is necessary. Reuse of the components should be taken into consideration in selecting the vehicles dismantling strategy. It also complies with European Union policy concerning end of life vehicles (ELV. In the paper it is presented systematic approach to dismantling strategies including disassembly oriented on further reuse of components. It is focused on decision making and possible benefits calculation from economic and environmental point of view.

  11. Industrial robots with sensors and object recognition systems

    International Nuclear Information System (INIS)

    Koehler, G.W.

    1978-01-01

    The previous development and the present status of industrial robots equipped with sensors and object recognition systems are described. This type of equipment allows flexible automation of many work stations in which industrial robots of the first generation, which are unable to react to changes in their respective environments automatically, apart from their being linked to other machines, could not be used because of the prevailing boundary conditions. A classification system facilitates an overview of the large number of technical solutions now available. The manifold possibilities of application of this equipment are demonstrated by a number of examples. As a result of the present state of development of the components required, and in view also of economic reasons, there is a trend towards special designs for a small number of specific purposes and towards stripped-down object recognition. systems with limited applications. A fitting description is offered of the term 'robot', which is now being used in various contexts, and an indication is made of the capabilities and components a machine to be called robot should have as a minimum. Finally, reference is made to some potential lines of development serving to reduce expediture and accelerate recognition processes. (orig.) [de

  12. Reaction Null Space of a multibody system with applications in robotics

    Directory of Open Access Journals (Sweden)

    D. N. Nenchev

    2013-02-01

    Full Text Available This paper provides an overview of implementation examples based on the Reaction Null Space formalism, developed initially to tackle the problem of satellite-base disturbance of a free-floating space robot, when the robot arm is activated. The method has been applied throughout the years to other unfixed-base systems, e.g. flexible-base and macro/mini robot systems, as well as to the balance control problem of humanoid robots. The paper also includes most recent results about complete dynamical decoupling of the end-link of a fixed-base robot, wherein the end-link is regarded as the unfixed-base. This interpretation is shown to be useful with regard to motion/force control scenarios. Respective implementation results are provided.

  13. Mock-up test of remote controlled dismantling apparatus for large-sized vessels (contract research)

    Energy Technology Data Exchange (ETDEWEB)

    Myodo, Masato; Miyajima, Kazutoshi [Japan Atomic Energy Research Inst., Tokai, Ibaraki (Japan). Tokai Research Establishment; Okane, Shogo [Japan Atomic Energy Research Inst., Oarai, Ibaraki (Japan). Oarai Research Establishment

    2001-03-01

    The Remote dismantling apparatus, which is equipped with multi-units for functioning of washing, cutting, collection of cut pieces and so on, has been constructed to dismantle the large-sized vessels in the JAERI's Reprocessing Test Facility (JRTF). The apparatus has five-axis movement capability and its operation is performed remotely. The mock-up tests were performed to evaluate the applicability of the apparatus to actual dismantling activities by using the mock-ups of LV-3 and LV-5 in the facility. It was confirmed that each unit was satisfactory functioned by remote operation. Efficient procedures for dismantling the large-sized vessel was studied and various date was obtained in the mock-up tests. This apparatus was found to be applicable for the actual dismantling activity in JRTF. (author)

  14. Mock-up test of remote controlled dismantling apparatus for large-sized vessels (contract research)

    International Nuclear Information System (INIS)

    Myodo, Masato; Miyajima, Kazutoshi; Okane, Shogo

    2001-03-01

    The Remote dismantling apparatus, which is equipped with multi-units for functioning of washing, cutting, collection of cut pieces and so on, has been constructed to dismantle the large-sized vessels in the JAERI's Reprocessing Test Facility (JRTF). The apparatus has five-axis movement capability and its operation is performed remotely. The mock-up tests were performed to evaluate the applicability of the apparatus to actual dismantling activities by using the mock-ups of LV-3 and LV-5 in the facility. It was confirmed that each unit was satisfactory functioned by remote operation. Efficient procedures for dismantling the large-sized vessel was studied and various date was obtained in the mock-up tests. This apparatus was found to be applicable for the actual dismantling activity in JRTF. (author)

  15. A Novel Bioinspired Vision System: A Step toward Real-Time Human-Robot Interactions

    Directory of Open Access Journals (Sweden)

    Abdul Rahman Hafiz

    2011-01-01

    Full Text Available Building a human-like robot that could be involved in our daily lives is a dream of many scientists. Achieving a sophisticated robot's vision system, which can enhance the robot's real-time interaction ability with the human, is one of the main keys toward realizing such an autonomous robot. In this work, we are suggesting a bioinspired vision system that helps to develop an advanced human-robot interaction in an autonomous humanoid robot. First, we enhance the robot's vision accuracy online by applying a novel dynamic edge detection algorithm abstracted from the rules that the horizontal cells play in the mammalian retina. Second, in order to support the first algorithm, we improve the robot's tracking ability by designing a variant photoreceptors distribution corresponding to what exists in the human vision system. The experimental results verified the validity of the model. The robot could have a clear vision in real time and build a mental map that assisted it to be aware of the frontal users and to develop a positive interaction with them.

  16. Obstacle avoidance test using a sensor-based autonomous robotic system

    International Nuclear Information System (INIS)

    Fujii, Yoshio; Suzuki, Katsuo

    1998-12-01

    From a viewpoint of reducing personnel radiation exposure of plant staffs working in the high radiation area of nuclear facilities, it is often said to be necessary to develop remote robotic systems, which have great potential of performing various tasks in nuclear facilities. Hence, we developed an advanced remote robotic system, consisting of redundant manipulator and environment-sensing systems, which can be applied to complicated handling tasks under unstructured environment. In the robotic system, various types of sensors for environment-sensing are mounted on the redundant manipulator and sensor-based autonomous capabilities are incorporated. This report describes the results of autonomous obstacle avoidance test which was carried out as follows: manipulating valves at the rear-side of wall, through a narrow window of the wall, with the redundant manipulator mounted on an x-axis driving mechanism. From this test, it is confirmed that the developed robotic system can autonomously achieve handling tasks in limited space as avoiding obstacles, which is supposed to be difficult by a non-redundant manipulator. (author)

  17. Importance of low-level radioactive wastes in dismantling strategy in CEA (FRANCE)

    International Nuclear Information System (INIS)

    Lafaille, C.

    1991-01-01

    This paper describes the advance used in C.E.A. to realize dismantling operations in the best technical and economical conditions. Particularly, for low-level radioactive waste management CEA's advance defines, first, the final destination of dismantling materials: - recycling in public lands for level activity inferior to 1 Bq/g; directly or after transformation (melting, calcination, extrusion) - storage in a ground disposal, after compacting, encapsulation or drumming. Two examples are given: - Marcoule G2 - G3 reactor dismantling - Gaseous diffusion plants demolition (COGEMA Pierrelatte)

  18. Robot-assisted 3D-TRUS guided prostate brachytherapy: System integration and validation

    International Nuclear Information System (INIS)

    Wei Zhouping; Wan Gang; Gardi, Lori; Mills, Gregory; Downey, Donal; Fenster, Aaron

    2004-01-01

    Current transperineal prostate brachytherapy uses transrectal ultrasound (TRUS) guidance and a template at a fixed position to guide needles along parallel trajectories. However, pubic arch interference (PAI) with the implant path obstructs part of the prostate from being targeted by the brachytherapy needles along parallel trajectories. To solve the PAI problem, some investigators have explored other insertion trajectories than parallel, i.e., oblique. However, parallel trajectory constraints in current brachytherapy procedure do not allow oblique insertion. In this paper, we describe a robot-assisted, three-dimensional (3D) TRUS guided approach to solve this problem. Our prototype consists of a commercial robot, and a 3D TRUS imaging system including an ultrasound machine, image acquisition apparatus and 3D TRUS image reconstruction, and display software. In our approach, we use the robot as a movable needle guide, i.e., the robot positions the needle before insertion, but the physician inserts the needle into the patient's prostate. In a later phase of our work, we will include robot insertion. By unifying the robot, ultrasound transducer, and the 3D TRUS image coordinate systems, the position of the template hole can be accurately related to 3D TRUS image coordinate system, allowing accurate and consistent insertion of the needle via the template hole into the targeted position in the prostate. The unification of the various coordinate systems includes two steps, i.e., 3D image calibration and robot calibration. Our testing of the system showed that the needle placement accuracy of the robot system at the 'patient's' skin position was 0.15 mm±0.06 mm, and the mean needle angulation error was 0.07 deg. . The fiducial localization error (FLE) in localizing the intersections of the nylon strings for image calibration was 0.13 mm, and the FLE in localizing the divots for robot calibration was 0.37 mm. The fiducial registration error for image calibration was 0

  19. Design on a Composite Mobile System for Exploration Robot

    OpenAIRE

    Shang, Weiyan; Yang, Canjun; Liu, Yunping; Wang, Junming

    2016-01-01

    In order to accomplish exploration missions in complex environments, a new type of robot has been designed. By analyzing the characteristics of typical moving systems, a new mobile system which is named wheel-tracked moving system (WTMS) has been presented. Then by virtual prototype simulation, the new system’s ability to adapt complex environments has been verified. As the curve of centroid acceleration changes in large amplitude in this simulation, ride performance of this robot has been st...

  20. Cloud-Enhanced Robotic System for Smart City Crowd Control

    Directory of Open Access Journals (Sweden)

    Akhlaqur Rahman

    2016-12-01

    Full Text Available Cloud robotics in smart cities is an emerging paradigm that enables autonomous robotic agents to communicate and collaborate with a cloud computing infrastructure. It complements the Internet of Things (IoT by creating an expanded network where robots offload data-intensive computation to the ubiquitous cloud to ensure quality of service (QoS. However, offloading for robots is significantly complex due to their unique characteristics of mobility, skill-learning, data collection, and decision-making capabilities. In this paper, a generic cloud robotics framework is proposed to realize smart city vision while taking into consideration its various complexities. Specifically, we present an integrated framework for a crowd control system where cloud-enhanced robots are deployed to perform necessary tasks. The task offloading is formulated as a constrained optimization problem capable of handling any task flow that can be characterized by a Direct Acyclic Graph (DAG. We consider two scenarios of minimizing energy and time, respectively, and develop a genetic algorithm (GA-based approach to identify the optimal task offloading decisions. The performance comparison with two benchmarks shows that our GA scheme achieves desired energy and time performance. We also show the adaptability of our algorithm by varying the values for bandwidth and movement. The results suggest their impact on offloading. Finally, we present a multi-task flow optimal path sequence problem that highlights how the robot can plan its task completion via movements that expend the minimum energy. This integrates path planning with offloading for robotics. To the best of our knowledge, this is the first attempt to evaluate cloud-based task offloading for a smart city crowd control system.

  1. The use of Fuzzy expert system in robots decision-making

    International Nuclear Information System (INIS)

    Jamaseb, Mehdi; Jafari, Shahram; Montaseri, Farshid; Dadgar, Masoud

    2014-01-01

    The main issue that is investigated in this paper, is a method for decision making of mobile robots in different conditions for this purpose, we have used expert system. In this way, that the conditions of the robot are analyzed by on expert person a special issue (like following a ball) using knowledge base and suitable decisions will be mode. Then, using this information fuzzy rules well be built, and using its rules, robots decisions can be implemented like an expert person. In this study, we have used delta3d base for implementing expert systems and CLIPS and also we have used NAO for simulation rcssserver3d robot and 3d football simulation have been used for implementing operation program

  2. Navigation of robotic system using cricket motes

    Science.gov (United States)

    Patil, Yogendra J.; Baine, Nicholas A.; Rattan, Kuldip S.

    2011-06-01

    This paper presents a novel algorithm for self-mapping of the cricket motes that can be used for indoor navigation of autonomous robotic systems. The cricket system is a wireless sensor network that can provide indoor localization service to its user via acoustic ranging techniques. The behavior of the ultrasonic transducer on the cricket mote is studied and the regions where satisfactorily distance measurements can be obtained are recorded. Placing the motes in these regions results fine-grain mapping of the cricket motes. Trilateration is used to obtain a rigid coordinate system, but is insufficient if the network is to be used for navigation. A modified SLAM algorithm is applied to overcome the shortcomings of trilateration. Finally, the self-mapped cricket motes can be used for navigation of autonomous robotic systems in an indoor location.

  3. Application of GPS systems on a mobile robot

    Science.gov (United States)

    Cao, Peter; Saxena, Mayank; Tedder, Maurice; Mischalske, Steve; Hall, Ernest L.

    2001-10-01

    The purpose of this paper is to describe the use of Global Positioning Systems (GPS) as geographic information and navigational system for a ground based mobile robot. Several low cost wireless systems are now available for a variety of innovative automobile applications including location, messaging and tracking and security. Experiments were conducted with a test bed mobile robot, Bearcat II, for point-to-point motion using a Motorola GPS in June 2001. The Motorola M12 Oncore GPS system is connected to the Bearcat II main control computer through a RS232 interface. A mapping program is used to define a desired route. Then GPS information may be displayed for verification. However, the GPS information is also used to update the control points of the mobile robot using a reinforcement learning method. Local position updates are also used when found in the environment. The significance of the method is in extending the use of GPS to local vehicle control that requires more resolution that is available from the raw data using the adaptive control method.

  4. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  5. Effective programming of energy consuming industrial robot systems

    International Nuclear Information System (INIS)

    Trnka, K.; Pinter, T.; Knazik, M.; Bozek, P.

    2012-01-01

    This paper discusses the problem of effective motion planning for industrial robots. The first part dealt with current method for off-line motion planning. In the second part is presented the work done with one of the simulation system with automatic trajectory generation and off-line programming capability [4]. An spot welding process is involved. The practical application of this step strongly depends on the method for robot path optimization with high accuracy, thus, transform the path into a time and energy optimal robot program for the real world, which is discussed in the third step. (Authors)

  6. NucLab Marcoule. A laboratory facility dedicated to support dismantling operations

    International Nuclear Information System (INIS)

    Dugne, O.; Houssin, A.; Pierre, D.; Bec-Espitalier, L.

    2013-06-01

    Formerly dedicated to plutonium production support, NucLab was renovated to perform a wide range of analyses for dismantling, plant operation and process development activities mainly on Marcoule site but also outside (Veurey, Fontenay aux Roses). The Laboratory is under a CEA AREVA partnership as a CEA entity operated by AREVA employees. It provides services to several industrial operators (nuclear process and power plant) in the fields of analytical chemistry, radioactivity measurements, in situ nuclear measurements, decontamination processes and industrial chemistry processes, waste treatments to meet the following analysis requirements. NucLab today is able to support research, production and dismantling activities in all part of dismantling operations. (authors)

  7. Design and real-time control of a robotic system for fracture manipulation.

    Science.gov (United States)

    Dagnino, G; Georgilas, I; Tarassoli, P; Atkins, R; Dogramadzi, S

    2015-08-01

    This paper presents the design, development and control of a new robotic system for fracture manipulation. The objective is to improve the precision, ergonomics and safety of the traditional surgical procedure to treat joint fractures. The achievements toward this direction are here reported and include the design, the real-time control architecture and the evaluation of a new robotic manipulator system. The robotic manipulator is a 6-DOF parallel robot with the struts developed as linear actuators. The control architecture is also described here. The high-level controller implements a host-target structure composed by a host computer (PC), a real-time controller, and an FPGA. A graphical user interface was designed allowing the surgeon to comfortably automate and monitor the robotic system. The real-time controller guarantees the determinism of the control algorithms adding an extra level of safety for the robotic automation. The system's positioning accuracy and repeatability have been demonstrated showing a maximum positioning RMSE of 1.18 ± 1.14mm (translations) and 1.85 ± 1.54° (rotations).

  8. Decontamination and dismantling of large plutonium-contamined glove boxes

    International Nuclear Information System (INIS)

    Draulans, J.

    1991-01-01

    This report describes the work performed in the frame of two C.E.C. - Contracts FI1D-002400-B Decommissioning of very large glove boxes and FI1D-0058 Decommissioning of a complex glove box structure to be dismounted partially on place. Detailed information is given about each glove box. The selection of the solution Transportation of the glove boxes to a specialized dismantling plant is justified. The necessary contacts inside the BELGONUCLEAIRE MOX plant and between the latter and other organizations are explained. The problems of manipulating large gloves are listed and the retained solution of building a so called Stiffening frame around each glove box is described. Furthermore information is given concerning required operators time for cleaning, manipulating, packing and dismantling together with received doses and quantities of waste produced. Concerning the glove box unit partially to be dismounted on place, detailed information is given about the way the glove boxes have been treated prior to this partial dismantling on place and about the way this partial dismantling has been performed. From these results one can conclude that such a delicate task can be performed without major difficulties. Finally information is given of the decontamination test of a highly Pu contaminated glove box with freon with rather poor results and of the preliminary CO 2 blasting tests on non active samples

  9. Modelling of cooperating robotized systems with the use of object-based approach

    Science.gov (United States)

    Foit, K.; Gwiazda, A.; Banas, W.; Sekala, A.; Hryniewicz, P.

    2015-11-01

    Today's robotized manufacturing systems are characterized by high efficiency. The emphasis is placed mainly on the simultaneous work of machines. It could manifest in many ways, where the most spectacular one is the cooperation of several robots, during work on the same detail. What's more, recently a dual-arm robots are used that could mimic the manipulative skills of human hands. As a result, it is often hard to deal with the situation, when it is necessary not only to maintain sufficient precision, but also the coordination and proper sequence of movements of individual robots’ arms. The successful completion of this task depends on the individual robot control systems and their respective programmed, but also on the well-functioning communication between robot controllers. A major problem in case of cooperating robots is the possibility of collision between particular links of robots’ kinematic chains. This is not a simple case, because the manufacturers of robotic systems do not disclose the details of the control algorithms, then it is hard to determine such situation. Another problem with cooperation of robots is how to inform the other units about start or completion of part of the task, so that other robots can take further actions. This paper focuses on communication between cooperating robotic units, assuming that every robot is represented by object-based model. This problem requires developing a form of communication protocol that the objects can use for collecting the information about its environment. The approach presented in the paper is not limited to the robots and could be used in a wider range, for example during modelling of the complete workcell or production line.

  10. The role of robotic surgical system in the management of vascular disease.

    Science.gov (United States)

    Lin, Judith C

    2013-10-01

    The evolution of minimally invasive treatment for aneurysms and occlusive disease has led to the development of endovascular, laparoscopic, and robot-assisted techniques. This article reviews the current literature on the clinical use of robotic surgical systems in the treatment of patients with aneurysms and occlusive disease. A MEDLINE search was performed using the keywords "robotic, vascular, AND surgery." All pertinent articles concerning the use of the robotic surgical system on aneurysms and occlusive disease were reviewed. The author's personal experience consisted of a retrospective review of a prospectively maintained confidential database on all procedures performed with the da Vinci(®) surgical system. Several robot-assisted laparoscopic series on the treatment of aortic disease were identified, including review articles of potential clinical applications in hybrid, laparoscopic vascular, and endovascular treatments for vascular patients using robotic technology. The use of computer-enhanced or robotic technology as a sole modality for bypass of occlusive disease and repair of abdominal aortic, splenic, and renal aneurysms was described in case series with satisfactory patient outcomes. Current robotic endovascular technology was also described. Minimally invasive techniques using endovascular, laparoscopic, or robot-assisted technology have revolutionized the treatment of aortoiliac, splanchnic, and renal aneurysms and occlusive disease. However, robot-assisted techniques for aortic disease may involve a learning curve and increased operating times. Although endovascular therapy is preferred because of faster recovery, this preference for improved short-term outcomes will be balanced with the superiority and durability of robot-assisted endoscopic methods as comparable to open surgery. Copyright © 2013 Elsevier Inc. All rights reserved.

  11. Safeguards and security considerations for automated and robotic systems

    International Nuclear Information System (INIS)

    Jordan, S.E.; Jaeger, C.D.

    1994-01-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A ampersand R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S ampersand S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S ampersand S into the design of future A ampersand R systems. Towards this, the authors first examined existing A and R systems from a security perspective to identify areas of concern and possible solutions of these problems. They then were able to develop generalized S ampersand S guidance and design considerations for automation and robotics

  12. Safeguards and security considerations for automated and robotic systems

    International Nuclear Information System (INIS)

    Jordan, S.E.; Jaeger, C.D.

    1994-01-01

    Within the reconfigured Nuclear Weapons Complex there will be a large number of automated and robotic (A ampersand R) systems because of the many benefits derived from their use. To meet the overall security requirements of a facility, consideration must be given to those systems that handle and process nuclear material. Since automation and robotics is a relatively new technology, not widely applied to the Nuclear Weapons Complex, safeguards and security (S ampersand S) issues related to these systems have not been extensively explored, and no guidance presently exists. The goal of this effort is to help integrate S ampersand S into the design of future A ampersand R systems. Towards this, we first examined existing A ampersand R systems from a security perspective to identify areas of concern and possible solutions to these problems. We then were able to develop generalized S ampersand S guidance and design considerations for automation and robotics

  13. Design and Evaluation of a DIY Construction System for Educational Robot Kits

    Science.gov (United States)

    Vandevelde, Cesar; Wyffels, Francis; Ciocci, Maria-Cristina; Vanderborght, Bram; Saldien, Jelle

    2016-01-01

    Building a robot from scratch in an educational context can be a challenging prospect. While a multitude of projects exist that simplify the electronics and software aspects of a robot, the same cannot be said for construction systems for robotics. In this paper, we present our efforts to create a low-cost do-it-yourself construction system for…

  14. Mobile robot teleoperation system for plant inspection based on collecting and utilizing environment data

    International Nuclear Information System (INIS)

    Kawabata, Kuniaki; Watanabe, Nobuyasu; Asama, Hajime; Kita, Nobuyuki; Yang, Hai-quan

    2004-01-01

    This paper describes about development of a mobile robot teleoperation system for plant inspection. In our system, the robot is an agent for collecting the environment data and is also teleoperated by the operator utilizing such accumulated environment data which is displayed on the operation interface. The robot equips many sensors for detecting the state of the robot and the environment. Such redundant sensory system can be also utilized to collect the working environment data on-site while the robot is patrolling. Here, proposed system introduces the framework of collecting and utilizing environment data for adaptive plant inspection using the teleoperated robot. A view simulator is primarily aiming to facilitate evaluation of the visual sensors and algorithms and is also extended as the Environment Server, which is the core technology of the digital maintenance field for the plant inspection. In order to construct detailed seamless digital maintenance field mobile robotic technology is utilized to supply environment data to the server. The sensory system on the robot collect the environment data on-site and such collected data is uploaded to the Environment Server for compiling accurate digital environment data base. The robot operator also can utilize accumulated environment data by referring to the Environment Server. In this paper, we explain the concept of our teleoperation system based on collecting and utilizing environment data. Using developed system, inspection patrol experiments were attempted in the plant mock-up. Experimental results are shown by using an omnidirectional mobile robot with sensory system and the Environment Server. (author)

  15. Robotics and artificial intelligence: Jewish ethical perspectives.

    Science.gov (United States)

    Rappaport, Z H

    2006-01-01

    In 16th Century Prague, Rabbi Loew created a Golem, a humanoid made of clay, to protect his community. When the Golem became too dangerous to his surroundings, he was dismantled. This Jewish theme illustrates some of the guiding principles in its approach to the moral dilemmas inherent in future technologies, such as artificial intelligence and robotics. Man is viewed as having received the power to improve upon creation and develop technologies to achieve them, with the proviso that appropriate safeguards are taken. Ethically, not-harming is viewed as taking precedence over promoting good. Jewish ethical thinking approaches these novel technological possibilities with a cautious optimism that mankind will derive their benefits without coming to harm.

  16. The development of advanced robotic technology - A study on the development of Motion capturing system

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Dong Hyun; Kim, Ki Ho; Lee, Yong Woo; Park, Soo Il; Choi, Jin Sung; Kim, Hae Dong; Park, Chan Yong [System Engineering Research Institute, Taejon= (Korea, Republic of)

    1996-07-01

    Robots are used to perform jobs where the performer are exposed to the radioactivity. Good human-robot-interface is required to operate the robots easily and smoothly. It is believed that virtual reality and 3D graphics technology will be the beat solution for the good human-robot-interface. Using 3D computer graphics, complex human motions can be captured and displayed on the screen. The captured motion data can be used as the input to= control the remote robots using virtual reality technologies. Thus good human-robot-interface can be constructed. The motion capturing system developed in this study are very convenient and easy to be used to operate the robot. And the required time to operate the robot with the developed system is much shorter than to operate the robots without our motion capturing system. Therefore, efficient usage of the robot and related facilities will prolong the life time of them and reduce the manpower of the operators. The 3D data produced by our system will be used to generate commands to control the robot. 6 refs., 60 figs. (author)

  17. Structural dependency of capitalism on the ideology of ageism: dismantling public pension systems

    Directory of Open Access Journals (Sweden)

    Lilijana Burcar

    2017-03-01

    Full Text Available The ideology of ageism was first institutionalized in the West in the 1980s as a result of the neoliberal onslaught against the capitalist types of (minimal or moderate welfare state. The article argues that the emergence and the spreading of the ideology of ageism in postsocialist countries such as Slovenia is structurally intertwined with the imposition of capitalist social relations after 1991, and with the dismantling of the last vestiges of the socialist welfare system, followed by its privatization at the turn of the 21st century. The declining rate of employers’ contributions and the flexibilizing of labour are two key elements that have steadily contributed to the depletion of the public pension coffers since the early 1990s. The article demonstrates that the demographic scare acts as a diversionary tactic, intended to obscure these processes. The article argues against the academic mainstream’s superficial dealing with the ideology of ageism as a mere reflection of individual prejudice, and calls instead for a systemic analysis and contextual understanding of the origin and the workings of institutionally sanctioned ageism.

  18. Robot and Human Surface Operations on Solar System Bodies

    Science.gov (United States)

    Weisbin, C. R.; Easter, R.; Rodriguez, G.

    2001-01-01

    This paper presents a comparison of robot and human surface operations on solar system bodies. The topics include: 1) Long Range Vision of Surface Scenarios; 2) Human and Robots Complement Each Other; 3) Respective Human and Robot Strengths; 4) Need More In-Depth Quantitative Analysis; 5) Projected Study Objectives; 6) Analysis Process Summary; 7) Mission Scenarios Decompose into Primitive Tasks; 7) Features of the Projected Analysis Approach; and 8) The "Getting There Effect" is a Major Consideration. This paper is in viewgraph form.

  19. Dynamical Behavior of Multi-Robot Systems Using Lattice Gas Automata

    Energy Technology Data Exchange (ETDEWEB)

    Cameron, S.M.; Robinett, R.; Stantz, K.M.; Trahan, M.W.; Wagner, J.S.

    1999-03-11

    Recent attention has been given to the deployment of an adaptable sensor array realized by multi-robotic systems. Our group has been studying the collective behavior of autonomous, multi-agent systems and their applications in the area of remote-sensing and emerging threats. To accomplish such tasks, an interdisciplinary research effort at Sandia National Laboratories are conducting tests in the fields of sensor technology, robotics, and multi-robotic and multi-agents architectures. Our goal is to coordinate a constellation of point sensors that optimizes spatial coverage and multivariate signal analysis using unmanned robotic vehicles (e.g., RATLERs, Robotic All-ten-sin Lunar Exploration Rover-class vehicles). Overall design methodology is to evolve complex collective behaviors realized through simple interaction (kinetic) physics and artificial intelligence to enable real-time operational responses to emerging threats. This paper focuses on our recent work understanding the dynamics of many-body systems using the physics-based hydrodynamic model of lattice gas automata. Three design features are investigated. One, for single-speed robots, a hexagonal nearest-neighbor interaction topology is necessary to preserve standard hydrodynamic flow. Two, adaptability, defined by the swarm's deformation rate, can be controlled through the hydrodynamic viscosity term, which, in turn, is defined by the local robotic interaction rules. Three, due to the inherent non-linearity of the dynamical equations describing large ensembles, development of stability criteria ensuring convergence to equilibrium states is developed by scaling information flow rates relative to a swarm's hydrodynamic flow rate. An initial test case simulates a swarm of twenty-five robots that maneuvers past an obstacle while following a moving target. A genetic algorithm optimizes applied nearest-neighbor forces in each of five spatial regions distributed over the simulation domain. Armed with

  20. Decontamination before dismantling a fast breeder reactor primary cooling system

    International Nuclear Information System (INIS)

    Costes, J.R.; Antoine, P.; Gauchon, J.P.

    1997-01-01

    The large-scale decontamination of FBR sodium loops is a novel task, as only a limited number of laboratory-scale results are available to date. The principal objective of this work is to develop a suitable decontamination procedure for application to the primary loops of the RAPSODIE fast breeder reactor as part of decommissioning to Stage 2. After disconnecting the piping from the main vessel, the pipes were treated by circulating chemical solutions and the vessels by spraying. The dose rate in the areas to be dismantled was divided by ten. A decontamination factor of about 300 was obtained, and should allow austenitic steel parts to be melted in special furnaces for unrestricted release. (author)

  1. Development of an integrated closed loop control system with virtual reality monitoring for Prototype Robotic Articulated System (PRAS)

    International Nuclear Information System (INIS)

    Rastogi, Naveen; Dutta, Pramit; Gotewal, K.K.

    2015-01-01

    The Prototype Robotic Articulated System (PRAS) is a servo driven 4 degrees of freedom robotic arm capable of handling of upto 5 kg payload. A virtual reality based monitoring application has been developed in blender and was intergrated with the control system to read the joint values of the robotic arm at 10Hz and update the CAD model to visualize the robotic operations remotely. This paper presents the design details and implementation results of the integrated control system for PRAS

  2. Soviet Robots in the Solar System Mission Technologies and Discoveries

    CERN Document Server

    Huntress, JR , Wesley T

    2011-01-01

    The Soviet robotic space exploration program began in a spirit of bold adventure and technical genius. It ended after the fall of the Soviet Union and the failure of its last mission to Mars in 1996. Soviet Robots in the Solar System chronicles the scientific and engineering accomplishments of this enterprise from its infancy to its demise. Each flight campaign is set into context of national politics and international competition with the United States. Together with its many detailed illustrations and images, Soviet Robots in the Solar System presents the most detailed technical description of Soviet robotic space flights provides a unique insight into programmatic, engineering, and scientific issues covers mission objectives, spacecraft engineering, flight details, scientific payload and results describes in technical depth Soviet lunar and planetary probes

  3. A remote assessment system with a vision robot and wearable sensors.

    Science.gov (United States)

    Zhang, Tong; Wang, Jue; Ren, Yumiao; Li, Jianjun

    2004-01-01

    This paper describes an ongoing researched remote rehabilitation assessment system that has a 6-freedom double-eyes vision robot to catch vision information, and a group of wearable sensors to acquire biomechanical signals. A server computer is fixed on the robot, to provide services to the robot's controller and all the sensors. The robot is connected to Internet by wireless channel, and so do the sensors to the robot. Rehabilitation professionals can semi-automatically practise an assessment program via Internet. The preliminary results show that the smart device, including the robot and the sensors, can improve the quality of remote assessment, and reduce the complexity of operation at a distance.

  4. Development of the robot system to assist CT-guided brain surgery

    International Nuclear Information System (INIS)

    Koyama, H.; Funakubo, H.; Komeda, T.; Uchida, T.; Takakura, K.

    1999-01-01

    The robot technology was introduced into the stereotactic neurosurgery for application to biopsy, blind surgery, and functional neurosurgery. The authors have developed a newly designed the robot system to assist CT-guided brain surgery, designed to allow a biopsy needle to reach the targget such as a cerebral tumor within a brain automatically on the basis of the X,Y, and Z coordinates obtained by CT scanner. In this paper we describe construction of the robot, the control of the robot by CT image, robot simulation, and investigated a phantom experiment using CT image. (author)

  5. Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 and Smart Autonomous Sand-Swimming Excavator

    Science.gov (United States)

    Sandy, Michael

    2015-01-01

    The Regolith Advanced Surface Systems Operations Robot (RASSOR) Phase 2 is an excavation robot for mining regolith on a planet like Mars. The robot is programmed using the Robotic Operating System (ROS) and it also uses a physical simulation program called Gazebo. This internship focused on various functions of the program in order to make it a more professional and efficient robot. During the internship another project called the Smart Autonomous Sand-Swimming Excavator was worked on. This is a robot that is designed to dig through sand and extract sample material. The intern worked on programming the Sand-Swimming robot, and designing the electrical system to power and control the robot.

  6. Development of robotic mobile platform with the universal chassis system

    Science.gov (United States)

    Ryadchikov, I.; Nikulchev, E.; Sechenev, S.; Drobotenko, M.; Svidlov, A.; Volkodav, P.; Feshin, A.

    2018-02-01

    The problem of stabilizing the position of mobile devices is extremely relevant at the modern level of technology development. This includes the problem of stabilizing aircraft and stabilizing the pitching of ships. In the laboratory of robotics and mechatronics of the Kuban State University, a robot is developed. The robot has additional internal degrees of freedom, responsible for compensating for deflections - the dynamic stabilization system.

  7. System safety analysis of an autonomous mobile robot

    International Nuclear Information System (INIS)

    Bartos, R.J.

    1994-01-01

    Analysis of the safety of operating and maintaining the Stored Waste Autonomous Mobile Inspector (SWAMI) II in a hazardous environment at the Fernald Environmental Management Project (FEMP) was completed. The SWAMI II is a version of a commercial robot, the HelpMate trademark robot produced by the Transitions Research Corporation, which is being updated to incorporate the systems required for inspecting mixed toxic chemical and radioactive waste drums at the FEMP. It also has modified obstacle detection and collision avoidance subsystems. The robot will autonomously travel down the aisles in storage warehouses to record images of containers and collect other data which are transmitted to an inspector at a remote computer terminal. A previous study showed the SWAMI II has economic feasibility. The SWAMI II will more accurately locate radioactive contamination than human inspectors. This thesis includes a System Safety Hazard Analysis and a quantitative Fault Tree Analysis (FTA). The objectives of the analyses are to prevent potentially serious events and to derive a comprehensive set of safety requirements from which the safety of the SWAMI II and other autonomous mobile robots can be evaluated. The Computer-Aided Fault Tree Analysis (CAFTA copyright) software is utilized for the FTA. The FTA shows that more than 99% of the safety risk occurs during maintenance, and that when the derived safety requirements are implemented the rate of serious events is reduced to below one event per million operating hours. Training and procedures in SWAMI II operation and maintenance provide an added safety margin. This study will promote the safe use of the SWAMI II and other autonomous mobile robots in the emerging technology of mobile robotic inspection

  8. An expert system for automated robotic grasping

    International Nuclear Information System (INIS)

    Stansfield, S.A.

    1990-01-01

    Many US Department of Energy sites and facilities will be environmentally remediated during the next several decades. A number of the restoration activities (e.g., decontamination and decommissioning of inactive nuclear facilities) can only be carried out by remote means and will be manipulation-intensive tasks. Experience has shown that manipulation tasks are especially slow and fatiguing for the human operator of a remote manipulator. In this paper, the authors present a rule-based expert system for automated, dextrous robotic grasping. This system interprets the features of an object to generate hand shaping and wrist orientation for a robot hand and arm. The system can be used in several different ways to lessen the demands on the human operator of a remote manipulation system - either as a fully autonomous grasping system or one that generates grasping options for a human operator and then automatically carries out the selected option

  9. The dismantling of nuclear power plants which are not in use

    International Nuclear Information System (INIS)

    Tanguy, P.

    1987-01-01

    At the end of its life span, a nuclear power plant contains big quantities of radioactive products. The corresponding risks must be controlled and over the long range, all radioactivity must be definitively removed. The latter operation is called dismantling. In France, at the beginning of 1987, five nuclear units which were permanently put out of use have to be dismantled. These units are presented in this article. From this presentation, it can be seen that there are now techniques which provide for complete control of the risks corresponding to radioactivity. However, in France, as in the rest of the world, the dismantling of nuclear plants will not attain its full industrial level until the 21st Century. The problems which have to be solved are known, but better performing technologies have to be developed in order to obtain a superior protection of dismantling work crews and a reduction of costs. This article concludes with an appeal for high French interest in international activities in this field [fr

  10. Consideration of dismantling operations in the design

    International Nuclear Information System (INIS)

    Dubourg; Bonin.

    1984-12-01

    This analysis shows that the parameters and the constraints taken into account at the design level to facilitate the exploitation and the maintenance make the dismantling and its preparation easier [fr

  11. A cable-driven soft robot surgical system for cardiothoracic endoscopic surgery: preclinical tests in animals.

    Science.gov (United States)

    Wang, Hesheng; Zhang, Runxi; Chen, Weidong; Wang, Xiaozhou; Pfeifer, Rolf

    2017-08-01

    Minimally invasive surgery attracts more and more attention because of the advantages of minimal trauma, less bleeding and pain and low complication rate. However, minimally invasive surgery for beating hearts is still a challenge. Our goal is to develop a soft robot surgical system for single-port minimally invasive surgery on a beating heart. The soft robot described in this paper is inspired by the octopus arm. Although the octopus arm is soft and has more degrees of freedom (DOFs), it can be controlled flexibly. The soft robot is driven by cables that are embedded into the soft robot manipulator and can control the direction of the end and middle of the soft robot manipulator. The forward, backward and rotation movement of the soft robot is driven by a propulsion plant. The soft robot can move freely by properly controlling the cables and the propulsion plant. The soft surgical robot system can perform different thoracic operations by changing surgical instruments. To evaluate the flexibility, controllability and reachability of the designed soft robot surgical system, some testing experiments have been conducted in vivo on a swine. Through the subxiphoid, the soft robot manipulator could enter into the thoracic cavity and pericardial cavity smoothly and perform some operations such as biopsy, ligation and ablation. The operations were performed successfully and did not cause any damage to the surrounding soft tissues. From the experiments, the flexibility, controllability and reachability of the soft robot surgical system have been verified. Also, it has been shown that this system can be used in the thoracic and pericardial cavity for different operations. Compared with other endoscopy robots, the soft robot surgical system is safer, has more DOFs and is more flexible for control. When performing operations in a beating heart, this system maybe more suitable than traditional endoscopy robots.

  12. Distributed Robotics Education

    DEFF Research Database (Denmark)

    Lund, Henrik Hautop; Pagliarini, Luigi

    2011-01-01

    Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept of a distribu......Distributed robotics takes many forms, for instance, multirobots, modular robots, and self-reconfigurable robots. The understanding and development of such advanced robotic systems demand extensive knowledge in engineering and computer science. In this paper, we describe the concept...... to be changed, related to multirobot control and human-robot interaction control from virtual to physical representation. The proposed system is valuable for bringing a vast number of issues into education – such as parallel programming, distribution, communication protocols, master dependency, connectivity...

  13. Automation and Robotics for Space-Based Systems, 1991

    Science.gov (United States)

    Williams, Robert L., II (Editor)

    1992-01-01

    The purpose of this in-house workshop was to assess the state-of-the-art of automation and robotics for space operations from an LaRC perspective and to identify areas of opportunity for future research. Over half of the presentations came from the Automation Technology Branch, covering telerobotic control, extravehicular activity (EVA) and intra-vehicular activity (IVA) robotics, hand controllers for teleoperation, sensors, neural networks, and automated structural assembly, all applied to space missions. Other talks covered the Remote Manipulator System (RMS) active damping augmentation, space crane work, modeling, simulation, and control of large, flexible space manipulators, and virtual passive controller designs for space robots.

  14. Mathematical model for adaptive control system of ASEA robot at Kennedy Space Center

    Science.gov (United States)

    Zia, Omar

    1989-01-01

    The dynamic properties and the mathematical model for the adaptive control of the robotic system presently under investigation at Robotic Application and Development Laboratory at Kennedy Space Center are discussed. NASA is currently investigating the use of robotic manipulators for mating and demating of fuel lines to the Space Shuttle Vehicle prior to launch. The Robotic system used as a testbed for this purpose is an ASEA IRB-90 industrial robot with adaptive control capabilities. The system was tested and it's performance with respect to stability was improved by using an analogue force controller. The objective of this research project is to determine the mathematical model of the system operating under force feedback control with varying dynamic internal perturbation in order to provide continuous stable operation under variable load conditions. A series of lumped parameter models are developed. The models include some effects of robot structural dynamics, sensor compliance, and workpiece dynamics.

  15. A cognitive operating system (COGNOSYS) for JPL's robot, phase 1 report

    Science.gov (United States)

    Mathur, F. P.

    1972-01-01

    The most important software requirement for any robot development is the COGNitive Operating SYStem (COGNOSYS). This report describes the Stanford University Artificial Intelligence Laboratory's hand eye software system from the point of view of developing a cognitive operating system for JPL's robot. In this, the Phase 1 of the JPL robot COGNOSYS task the installation of a SAIL compiler and a FAIL assembler on Caltech's PDP-10 have been accomplished and guidelines have been prepared for the implementation of a Stanford University type hand eye software system on JPL-Caltech's computing facility. The alternatives offered by using RAND-USC's PDP-10 Tenex operating sytem are also considered.

  16. Research on Kinematic Trajectory Simulation System of KUKA Arc Welding Robot System

    Science.gov (United States)

    Hu, Min

    2017-10-01

    In this paper, the simulation trajectory simulation of KUKA arc welding robot system is realized by means of VC platform. It is used to realize the teaching of professional training of welding robot in middle school. It provides teaching resources for the combination of work and study and integration teaching, which enriches the content of course teaching.

  17. Study on system integration of robots operated in nuclear fusion facility and nuclear power plant facilities

    International Nuclear Information System (INIS)

    Oka, Kiyoshi

    2004-07-01

    A present robot is required to apply to many fields such as amusement, welfare and protection against disasters. The are however only limited numbers of the robots, which can work under the actual conditions as a robot system. It is caused by the following reasons: (1) the robot system cannot be realized by the only collection of the elemental technologies, (2) the performance of the robot is determined by that of the integrated system composed of the complicated elements with many functions, and (3) the respective elements have to be optimized in the integrated robot system with a well balance among them, through their examination, adjustment and improvement. Therefore, the system integration of the robot composed of a large number of elements is the most critical issue to realize the robot system for actual use. In the present paper, I describe the necessary approaches and elemental technologies to solve the issues on the system integration of the typical robot systems for maintenance in the nuclear fusion facility and rescue in the accident of the nuclear power plant facilities. These robots work under the intense radiation condition and restricted space in place of human. In particular, I propose a new approach to realize the system integration of the robot for actual use from the viewpoints of not only the environment and working conditions but also the restructure and optimization of the required elemental technologies with a well balance in the robot system. Based on the above approach, I have a contribution to realize the robot systems working under the actual conditions for maintenance in the nuclear fusion facility and rescue in the accident of the nuclear power plant facilities. (author)

  18. Dismantling of the rooms 82 to 100 at Marcoule

    International Nuclear Information System (INIS)

    Fiol, A.

    1988-01-01

    The dismantling of the rooms 82 to 100 at Marcoule is up to now, the most important decommissioning operation. The COGEMA Marcoule had the responsibility of studying and organizing the operation. On the works site the work was performed by STMI. The construction of a complete nuclear waste processing system was necessary, to protect against Pu contamination. Moreover, the efficiency of the work, was improved by the development and use of large special cutting tools [fr

  19. Friendly network robotics; Friendly network robotics

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-03-01

    This paper summarizes the research results on the friendly network robotics in fiscal 1996. This research assumes an android robot as an ultimate robot and the future robot system utilizing computer network technology. The robot aiming at human daily work activities in factories or under extreme environments is required to work under usual human work environments. The human robot with similar size, shape and functions to human being is desirable. Such robot having a head with two eyes, two ears and mouth can hold a conversation with human being, can walk with two legs by autonomous adaptive control, and has a behavior intelligence. Remote operation of such robot is also possible through high-speed computer network. As a key technology to use this robot under coexistence with human being, establishment of human coexistent robotics was studied. As network based robotics, use of robots connected with computer networks was also studied. In addition, the R-cube (R{sup 3}) plan (realtime remote control robot technology) was proposed. 82 refs., 86 figs., 12 tabs.

  20. Reserves for shutdown/dismantling and disposal in nuclear technology. Theses and recommendations on reform options

    International Nuclear Information System (INIS)

    Meyer, Bettina

    2012-01-01

    The study on reserves for shutdown, dismantling and disposal of nuclear facilities covers the following topics: cost for shutdown, dismantling and disposal and amount and transparency of nuclear reserves, solution by y stock regulated by public law for long-term liabilities, and improvement of the protection in the event of insolvency for the remaining EVU reserves for short- and intermediate-term liabilities. The appendix includes estimations and empirical values for the cost of shutdown and dismantling, estimation of disposal costs, and a summary of Swiss studies on dismantling and disposal and transfer to Germany.

  1. An Aerial-Ground Robotic System for Navigation and Obstacle Mapping in Large Outdoor Areas

    Directory of Open Access Journals (Sweden)

    David Zapata

    2013-01-01

    Full Text Available There are many outdoor robotic applications where a robot must reach a goal position or explore an area without previous knowledge of the environment around it. Additionally, other applications (like path planning require the use of known maps or previous information of the environment. This work presents a system composed by a terrestrial and an aerial robot that cooperate and share sensor information in order to address those requirements. The ground robot is able to navigate in an unknown large environment aided by visual feedback from a camera on board the aerial robot. At the same time, the obstacles are mapped in real-time by putting together the information from the camera and the positioning system of the ground robot. A set of experiments were carried out with the purpose of verifying the system applicability. The experiments were performed in a simulation environment and outdoor with a medium-sized ground robot and a mini quad-rotor. The proposed robotic system shows outstanding results in simultaneous navigation and mapping applications in large outdoor environments.

  2. Experience with Dismantling of the Analytic Cell in the JRTF Decommissioning Program

    International Nuclear Information System (INIS)

    Annoh, Akio; Nemoto, Koichi; Tajiri, Hideo; Saito, Keiichiro; Miyajima, Kazutoshi; Myodo, Masato

    2003-01-01

    The analytic cell was mainly used for process control analysis of the reprocessing process and for the measurement of fuel burn up ratio in JAERI's Reprocessing Test Facility (JRTF). The analytic cell was a heavy shielded one and equipped with a conveyor. The cell was alpha and beta(gamma)contaminated. For dismantling of analytic cells, it is very important to establish a method to remove the heavy shield safely and reduce the exposure. At first, a green house was set up to prevent the spread out of contamination, and next, the analytic cell was dismantled. Depending on the contamination condition, the workers wore protective suits such as air ventilated-suits for prevention of internal exposure and vinyl chloride aprons, lead aprons in order to reduce external exposure. From the work carried out, various data such as needed manpower for the activities, the collective dose of workers by external exposure, the amount of radioactive wastes and the relation between the weight of the shield and its dismantling efficiency were obtained and input for the database. The method of dismantling and the experience with the dismantling of the analytic cell in the JRTF, carried out during 2001 and 2002, are described in this paper

  3. Taking into account of dismantling constraints in the design of nuclear facilities

    International Nuclear Information System (INIS)

    Gouhier, E.; Moitrier, C.; Girones, P.; Pitrou, Y.; Poncet, P.; O'Sullivan, P.

    2014-01-01

    The taking into account of dismantling constraints in the design of nuclear facilities allows the reduction of the dosimetry during the dismantling operations, the reduction of the amount of wastes to manage and the saving of time and money by foreseeing an adequate and simple solution for each component. It is to notice that the strategy of life-extension strengthens that of dismantling because life-extension implies the possibility for any component of the reactor except the pressure vessel to be replaced. The feedback experience capitalized on various types of nuclear facilities have enabled IAEA and OECD to publish recommendations to facilitate dismantling. For instance, pipes and ventilation ducts must be designed to minimize the deposit of dust and residues, the natural porosity of concrete must be limited through the use of polishing products or a metal liner, the type and concentrations of impurities present in the structure materials must be controlled to limit radioactivation, the documentation describing the facility must be kept up to date, or the history of contamination events must be recorded all along the life of the facility. The integration of the dismantling constraints in the design stage is illustrated with 3 examples: the Georges Besse 2 enrichment fuel plant, new reactors (EPR, ASTRID and RJH), and ITER. (A.C.)

  4. Mobile robots and remote systems in nuclear applications

    International Nuclear Information System (INIS)

    Segovia de los Rios, J. A.; Benitez R, J. S.

    2010-01-01

    Traditionally, the robots have been used in the industry for the colored to the spray, welding, schemed, assemble and handling of materials. However, these devices have had a deep impact in the nuclear industry where the first objective has been to reduce the exhibition and the personnel contact with radioactive materials. Knowing the utility of the mobile robots and remote systems in nuclear facilities in the world, the Department of Automation and Instrumentation of the Instituto Nacional de Investigaciones Nucleares (ININ) has carried out some researches and applications that they have facilitated the work of the researches and professionals of the ININ involved in the handling of radioactive materials, as the system with monorail for the introduction of irradiated materials in a production cell of Iodine-131 and the robot vehicle for the radioactive materials transport TRASMAR (contraction of Transportacion Asistida de Materiales Radiactivos). (Author)

  5. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1996-07-01

    In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)

  6. Evaluation of robotic inspection systems at nuclear power plants

    International Nuclear Information System (INIS)

    White, J.R.; Eversole, R.E.; Farnstrom, K.A.; Harvey, H.W.; Martin, H.L.

    1984-03-01

    This report presents and demonstrates a cost-effective approach for robotics application (CARA) to surveillance and inspection work in existing nuclear power plants. The CARA was developed by the Remote Technology Corporation to systematically determine the specific surveillance/inspection tasks, worker hazards, and access or equipment placement restraints in each of the many individual rooms or areas at a power plant. Guidelines for designing inspection robotics are included and are based upon the modular arrangement of commercially-available sensors and other components. Techniques for maximizing the cost effectiveness of robotics are emphasized in the report including: selection of low-cost robotic components, minimal installation work in plant areas, portable systems for common use in different areas, and standardized robotic modules. Factors considered as benefits are reduced radiation exposure, lower man-hours, shorter power outage, less waste material, and improved worker safety concerns. A partial demonstration of the CARA methodology to the Sequoyah (PWR) and Browns Ferry (BWR) Plants is provided in the report along with specific examples of robotic installations in high potential areas

  7. Development of a Cognitive Robotic System for Simple Surgical Tasks

    Directory of Open Access Journals (Sweden)

    Riccardo Muradore

    2015-04-01

    Full Text Available The introduction of robotic surgery within the operating rooms has significantly improved the quality of many surgical procedures. Recently, the research on medical robotic systems focused on increasing the level of autonomy in order to give them the possibility to carry out simple surgical actions autonomously. This paper reports on the development of technologies for introducing automation within the surgical workflow. The results have been obtained during the ongoing FP7 European funded project Intelligent Surgical Robotics (I-SUR. The main goal of the project is to demonstrate that autonomous robotic surgical systems can carry out simple surgical tasks effectively and without major intervention by surgeons. To fulfil this goal, we have developed innovative solutions (both in terms of technologies and algorithms for the following aspects: fabrication of soft organ models starting from CT images, surgical planning and execution of movement of robot arms in contact with a deformable environment, designing a surgical interface minimizing the cognitive load of the surgeon supervising the actions, intra-operative sensing and reasoning to detect normal transitions and unexpected events. All these technologies have been integrated using a component-based software architecture to control a novel robot designed to perform the surgical actions under study. In this work we provide an overview of our system and report on preliminary results of the automatic execution of needle insertion for the cryoablation of kidney tumours.

  8. Fiscal 2000 report on result of R and D on robot system cooperating and coexisting with human beings. R and D on robot system cooperating and coexisting with human beings; 2000 nendo ningen kyocho kyozongata robot system kenkyu kaihatsu seika hokokusho

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    2001-06-01

    A highly safe and reliable robot is being developed capable of cooperating with human beings and executing complicated operations in a human working/living space. This paper describes the fiscal 2000 results. Development of robot motion library was continued for extended task for providing services to people in care houses for the aged controlling motions of the humanoid robot. A basic design for a personal service system by the humanoid robot was conducted with the aim of nursing assistance and for the objective of developing a portable terminal type tele-operation device. A public and a home cockpit were researched with the purpose of developing user interfaces for telexistence control. A dynamic simulator for humanoid robots was built, with motions of standing-up and walking examined, in order to develop basic theories for the dual-handed tasks aided by the leg-arm cooperative motion. To develop a robot that properly and safely cooperates and coexists with the human beings, it is essential to obtain a dynamically reasonable and natural control law, so that the basic studies were conducted in this direction. With the purpose of developing a motion capture and learning system, a virtual robot platform and an information acquiring interface were developed. Studies were also conducted on modeling technique for achieving realistic material properties from high-precision image synthesis and actual images. (NEDO)

  9. Modeling and Control of Underwater Robotic Systems

    Energy Technology Data Exchange (ETDEWEB)

    Schjoelberg, I:

    1996-12-31

    This doctoral thesis describes modeling and control of underwater vehicle-manipulator systems. The thesis also presents a model and a control scheme for a system consisting of a surface vessel connected to an underwater robotic system by means of a slender marine structure. The equations of motion of the underwater vehicle and manipulator are described and the system kinematics and properties presented. Feedback linearization technique is applied to the system and evaluated through a simulation study. Passivity-based controllers for vehicle and manipulator control are presented. Stability of the closed loop system is proved and simulation results are given. The equation of motion for lateral motion of a cable/riser system connected to a surface vessel at the top end and to a thruster at the bottom end is described and stability analysis and simulations are presented. The equations of motion in 3 degrees of freedom of the cable/riser, surface vessel and robotic system are given. Stability analysis of the total system with PD-controllers is presented. 47 refs., 32 figs., 7 tabs.

  10. Visual perception system and method for a humanoid robot

    Science.gov (United States)

    Wells, James W. (Inventor); Mc Kay, Neil David (Inventor); Chelian, Suhas E. (Inventor); Linn, Douglas Martin (Inventor); Wampler, II, Charles W. (Inventor); Bridgwater, Lyndon (Inventor)

    2012-01-01

    A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

  11. Design and evaluation of a motor imagery electroencephalogram-controlled robot system

    Directory of Open Access Journals (Sweden)

    Baoguo Xu

    2015-03-01

    Full Text Available Brain–computer interface provides a new communication channel to control external device by directly translating the brain activity into commands. In this article, as the foundation of electroencephalogram-based robot-assisted upper limb rehabilitation therapy, we report on designing a brain–computer interface–based online robot control system which is made up of electroencephalogram amplifier, acquisition and experimental platform, feature extraction algorithm based on discrete wavelet transform and autoregressive model, linear discriminant analysis classifier, robot control board, and Rhino XR-1 robot. The performance of the system has been tested by 30 participants, and satisfactory results are achieved with an average error rate of 8.5%. Moreover, the advantage of the feature extraction method was further validated by the Graz data set for brain–computer interface competition 2003, and an error rate of 10.0% was obtained. This method provides a useful way for the research of brain–computer interface system and lays a foundation for brain–computer interface–based robotic upper extremity rehabilitation therapy.

  12. Hybrid procedure for total laryngectomy with a flexible robot-assisted surgical system.

    Science.gov (United States)

    Schuler, Patrick J; Hoffmann, Thomas K; Veit, Johannes A; Rotter, Nicole; Friedrich, Daniel T; Greve, Jens; Scheithauer, Marc O

    2017-06-01

    Total laryngectomy is a standard procedure in head-and-neck surgery for the treatment of cancer patients. Recent clinical experiences have indicated a clinical benefit for patients undergoing transoral robot-assisted total laryngectomy (TORS-TL) with commercially available systems. Here, a new hybrid procedure for total laryngectomy is presented. TORS-TL was performed in human cadavers (n = 3) using a transoral-transcervical hybrid procedure. The transoral approach was performed with a robotic flexible robot-assisted surgical system (Flex®) and compatible flexible instruments. Transoral access and visualization of anatomical landmarks were studied in detail. Total laryngectomy is feasible with a combined transoral-transcervical approach using the flexible robot-assisted surgical system. Transoral visualization of all anatomical structures is sufficient. The flexible design of the robot is advantageous for transoral surgery of the laryngeal structures. Transoral robot assisted surgery has the potential to reduce morbidity, hospital time and fistula rates in a selected group of patients. Initial clinical studies and further development of supplemental tools are in progress. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

  13. Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

    Science.gov (United States)

    Sanders, Adam M. (Inventor); Barajas, Leandro G. (Inventor); Permenter, Frank Noble (Inventor); Strawser, Philip A. (Inventor)

    2015-01-01

    A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks.

  14. Folding System for the Clothes by a Robot and Tools

    OpenAIRE

    大澤, 文明; 関, 啓明; 神谷, 好承

    2004-01-01

    The works of a home robot has the laundering. The purpose of this study is to find a means of folding of the clothes and store the clothes in a drawer by a home robot. Because the shape of cloth tends to change in various ways depending on the situation, it is difficult for robot hands to fold the clothes. In this paper, we propose a realistic folding system for the clothes by a robot and tools. The function of a tool is folding the clothes in half by inserting the clothes using two plates. T...

  15. An intention driven hand functions task training robotic system.

    Science.gov (United States)

    Tong, K Y; Ho, S K; Pang, P K; Hu, X L; Tam, W K; Fung, K L; Wei, X J; Chen, P N; Chen, M

    2010-01-01

    A novel design of a hand functions task training robotic system was developed for the stroke rehabilitation. It detects the intention of hand opening or hand closing from the stroke person using the electromyography (EMG) signals measured from the hemiplegic side. This training system consists of an embedded controller and a robotic hand module. Each hand robot has 5 individual finger assemblies capable to drive 2 degrees of freedom (DOFs) of each finger at the same time. Powered by the linear actuator, the finger assembly achieves 55 degree range of motion (ROM) at the metacarpophalangeal (MCP) joint and 65 degree range of motion (ROM) at the proximal interphalangeal (PIP) joint. Each finger assembly can also be adjusted to fit for different finger length. With this task training system, stroke subject can open and close their impaired hand using their own intention to carry out some of the daily living tasks.

  16. Control system of the inspection robots group applying auctions and multi-criteria analysis for task allocation

    Science.gov (United States)

    Panfil, Wawrzyniec; Moczulski, Wojciech

    2017-10-01

    In the paper presented is a control system of a mobile robots group intended for carrying out inspection missions. The main research problem was to define such a control system in order to facilitate a cooperation of the robots resulting in realization of the committed inspection tasks. Many of the well-known control systems use auctions for tasks allocation, where a subject of an auction is a task to be allocated. It seems that in the case of missions characterized by much larger number of tasks than number of robots it will be better if robots (instead of tasks) are subjects of auctions. The second identified problem concerns the one-sided robot-to-task fitness evaluation. Simultaneous assessment of the robot-to-task fitness and task attractiveness for robot should affect positively for the overall effectiveness of the multi-robot system performance. The elaborated system allows to assign tasks to robots using various methods for evaluation of fitness between robots and tasks, and using some tasks allocation methods. There is proposed the method for multi-criteria analysis, which is composed of two assessments, i.e. robot's concurrency position for task among other robots and task's attractiveness for robot among other tasks. Furthermore, there are proposed methods for tasks allocation applying the mentioned multi-criteria analysis method. The verification of both the elaborated system and the proposed tasks' allocation methods was carried out with the help of simulated experiments. The object under test was a group of inspection mobile robots being a virtual counterpart of the real mobile-robot group.

  17. Design and validation of a CT-guided robotic system for lung cancer brachytherapy.

    Science.gov (United States)

    Dou, Huaisu; Jiang, Shan; Yang, Zhiyong; Sun, Luqing; Ma, Xiaodong; Huo, Bin

    2017-09-01

    Currently, lung brachytherapy in clinical setting is a complex procedure. Operation accuracy depends on accurate positioning of the template; however, it is difficult to guarantee the positioning accuracy manually. Application of robotic-assisted systems can simplify the procedure and improve the manual positioning accuracy. Therefore, a novel CT-guided robotic system was developed to assist the lung cancer brachytherapy. A four degree-of-freedom (DOF) robot, controlled by a lung brachytherapy treatment planning system (TPS) software, was designed and manufactured to assist the template positioning. Target position of the template can be obtained from the treatment plan, thus the robot is driven to the target position automatically. The robotic system was validated in both the laboratory and the CT environment. In laboratory environment, a 3D laser tracker and an inertial measurement unit (IMU) were used to measure the mechanical accuracy in air, which includes positioning accuracy and position repeatability. Working reliability was also validated in this procedure by observing the response reliability and calculating the position repeatability. Imaging artifacts and accuracy of the robot registration were validated in the CT environment by using an artificial phantom with fiducial markers. CT images were obtained and used to test the image artifact and calculate the registration accuracy. Phantom experiments were conducted to test the accuracy of needle insertion by using a transparent hydrogel phantom with a high imitation artificial phantom. Also, the efficiency was validated in this procedure by comparing time costs in manual positioning with robotic positioning under the same experimental conditions. The robotic system achieved the positioning accuracy of 0.28 ± 0.25 mm and the position repeatability of 0.09 ± 0.11 mm. Experimental results showed that the robot was CT-compatible and responded reliably to the control commands. The mean registration accuracy

  18. Reactor vessel dismantling at the high flux materials testing reactor Petten

    International Nuclear Information System (INIS)

    Tas, A.; Teunissen, G.

    1986-01-01

    The project of replacing the reactor vessel of the high flux materials testing reactor (HFR) originated in 1974 when results of several research programs confirmed severe neutron embrittlement of aluminium alloys suggesting a limited life of the existing facility. This report describes the dismantling philosophy and organisation, the design of special underwater equipment, the dismantling of the reactor vessel and thermal column, and the conditioning and shielding activities resulting in a working area for the installation of the new vessel with no access limitations due to radiation. Finally an overview of the segmentation, waste disposal and radiation exposure is given. The total dismantling, segmentation and conditioning activities resulted in a total collective radiation dose of 300 mSv. (orig.) [de

  19. Decommissioning and dismantling reactors and managing waste

    International Nuclear Information System (INIS)

    Bensoussan, E.; Reicher-Fournel, N.

    2005-01-01

    In the early forties/fifties, a number of countries launched the first developments in the field of nuclear power. Some of them now have large numbers of nuclear facilities and nuclear power plants which have met, and continue to meet, the objectives for which they were designed and built. Other plants, including nuclear fuel production and enrichment plants, experimental reactors or research reactors, will have to be dismantled and demolished in the near future. These activities are handled differently in different countries as a function of specific energy policies, advanced development plants, current financial resources, the availability of qualified engineers and specialized industries able to handle projects of this kind, as well as other factors. All dismantling and demolition projects serve the purpose of returning the respective sites to green-field conditions. (orig.)

  20. Dismantling of the research reactor RTS-1 Galileo Galilei in Pisa (Italy)

    International Nuclear Information System (INIS)

    Ruiz Martinez, J. t.; Farella, G.; Cimini, E.; Russo, M.

    2014-01-01

    This paper is about the most relevant aspects of the first phase of the dismantling, removal of the water in the pool, prior treatment through evaporation, the dismantling of all the submerged activated elements and other activated or contaminated elements that have been part of the nuclear facility. (Author)