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This paper describes the design of a remote control system for maintaining and repairing tasks in a nuclear power plant (NPP). As the remote target tasks, we set up a remote manipulation of the manual operation mechanism of the nuclear fuel changer of the heavy water NPP and remote pipe cutting/welding, which may be necessary in the case of an emergency or dismantling of the NPP. The system to be...
This paper describes the development of a robot monitoring an aerial working environment in a high radiation area such as the Calandria face at a PHWR (pressurized heavy water reactor) of a nuclear power plant. The robot consists of three main parts: a mobile platform, a telescopic mast, and a mission tool. To access the target place across the guide rail ditch of a shielding door, the mobile platform...
Research into the gait planning of a walking robot is the underlying development of quadruped robots. Despite the efforts in stable gait planning, many walking robots that have been developed thus far do not have enough ability to adapt to uneven territory. In this paper, we acquired the motion data of the trotting lizards using the motion capture equipment and analyzed the gait systematically. In...
This paper describes an NDT inspection mobile robot to drive 100m away with inspection module in 10cm pipes. A spiral driven mechanism was adopted to obtain a high traction force. The inspection module was made with a camera and four laser sensors. This module can find out 1mm size defects with a laser image sensor and recognize damages of the pipes using the camera. The mobile robot was tested in...
A high traction force mobile robot has been developed as a platform for a long distance inspection under 10cm scale diameter pipes for plants facilities. The dimensions of robot body and optimal mechanism were studied to maximize the robot volume capacity and traction force. The mechanism was adopted with a spiral driven type to drag a cable and pass through a u-bent pipe area. Performance tests and...
In this paper, we show the motion analysis of lizard locomotion as a part of a pre-study of surveillance and monitoring using an unmanned robot in a narrow area. The motion of a lizard was measured using 20 markers, adhered to the skin of the lizard joints, with an optical motion capture system. The lizard's gait was analyzed, and a kinematic model was proposed based on the measured data.
Nuclear energy has become a major energy source to worldwide, even though we are still debating the environmental and safety aspects. In order to cope with that safety issues related to the nuclear power plants, the uncertain human factors needs to be minimized by automating the inspection and maintenance work done by human workers. The demands of a robotic system in the nuclear industry have been...
In this paper, the design of a graphic simulator for use in pyroprocessing technology development is described. This simulator is a virtual facility of a pyroprocessing mock-up facility to be constructed later. The simulator will be designed to include all the Pyroprocessing equipment, utilities, remote maintenance and handling devices and auxiliary devices or tools, in the form of virtual models...
The remote operation in nuclear facilities is essential field since human access is restricted due to the effects of high radiation. Using a haptic device in the roll of a master manipulator enhances the throughput and the reliability of the simulation because of the kinetic sense of reality. This paper describes a 3D graphic based simulator system to simulate the nuclear facilities. The human interface...
The path of a robot can be preprogrammed for the live-line work of a distributed power line since the procedure for such of a task is predefined. But the reference coordinate of a robot is deviated according to the position of the vehicle and boom it is mounted on. The reference position of a robot should be measured and modified for the planned path in order to preform preprogrammed tasks for a live-line...
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