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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...
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.
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