seminar on Robots in radioactive environment

ROBOTS IN RADIOACTIVE
ENVIRONMENT
Presented by:
Sharath Kumar C Joshi

CONTENTS
 Introduction
 Definition
 Basic components of Robot
 Need of robots in radioactive environment
 Types of robots used in radio active
environment
 Applications
 Conclusion
 References

INTRODUCTION
 In a critical place such as a nuclear power
plant , where the manual work is more
difficult the application of robots are really
worth mentioning.
 Robots are used to prevent exposure of
humans to radiations of alpha beta and
gamma in Nuclear Power plants.

DEFINITION
 Robot is a programmable multifunctional
manipulator designed to move materials,
parts, tools etc through variable programmed
motion of the performance of a variety of
tasks.

BASIC COMPONENTS OF ROBOT
 1}MANIPULATOR :A Manipulator is a device
used to manipulate materials without direct
contact.
 2}CONTROLLER: The controller is a
communication and information processing
device that initiates ,terminates and coordinates
the motions and sequences of robot
 3}POWER SUPPLY: The function of the power
supply is to provide and regulate the energy that
is required for a robot to be operated.

NEED OF ROBOTS IN RADIOACTIVE
ENVIRONMENT
 Professional workers are few in number and
require extensive training and years of
experience.
 The no. of working hours that the men work in
the radioactive environment is limited by
international regulations .
 The above lead to the discontinuous use of
human resources and discontinuous nature of
work ,which lead to ineffective and inefficient
working.

TYPES OF ROBOTS USED IN RADIOACTIVE
ENVIRONMENT
 Remotely operated service arm(ROSA)
ROSA is used to
maintain the SG jobs
involving complex tasks
like water cleaning ,eddy
current inspection
mechanical plugging and
unplugging etc ,
The arm is equipped
with a remote quick
connector to facilitate the
assembly and dismantle
of operations.

INSPECTION AND RETRIEVING VEHICLE(IRV)
 It is highly robust & fail
safe.
 The robot arm mounted
on a mobile base
checking leaks of
drums filled with
radioactive substance

TELEOPERATED AND ROBOTIZED SYSTEM FOR
MAINTENANCE OPERATION IN NUCLEAR POWER
PLANT VESSELS(TRON)
•It comprises of jointed pole , end
effectors and computer vision
navigation system.
•It is a four joint robotized pole
Used to retrieve the fallen objects
from the pressurized water reactor
(PER) vessels
•It also inspects the lower internal
zone and recover the objects without
the core having to be dismantled.

SNAKE-LIKE ROBOTS (MOCASIN II)
•Whenever nuclear
explosions, occur its very
hard to find the reason
and exact point or place
where the explosion
took place. The answer
is robotic animals that
could reach the places
that are inaccessible to
human being.
•It is also found that
whenever there is a
explosion the pipes
generally stay intact thus
the snake like robot are
ideal and could navigate
through pipes .
•It is a segmented robot that
looks like an inchworm. it uses
pneumatics to force padded feet
against the pipe walls,

ROBOT IN INDIA (RHINO-XR3)
 India has recently built 2 metre high robot with tennis balls
for shoes to be used in case of accidents at its nuclear
power plants.
 The remote-controlled machine can climb stairs, step over
obstacles and carry out repairs inside India's 14 nuclear
power plants.
 The robot would be able to go places human workers could
not.
 If we attach an arm, it can do maintenance work or turn off
valves in case of an emergency.
 Made of aluminum and weighing 250kg, the robot can also
carry payloads of more than 50kg.

APPLICATIONS
 STEAM GENERATORS:
• Primary tube inspection & maintenance.
• Channel head cleaning .
 REACTOR CAVITY:
• Fuel transfer channel cleaning &
underwater inspection.
 REACTOR VESSEL:
• Underwater inspection & repair.
• Foreign fallen object removal.
A. Also to find the exact places where the
explosion taken place

CONCLUSION
With improving technology & growing
perception of the need to keep human
workers away from high radiation areas,
more competitive robotic systems are
increasingly becoming available

REFERENCES
 Keramas James G., “Introduction to Robots” ; McGraw-Hill
 Kim, S; Jung, S.H.; Kim, C.H. , “Preventive Maintenance and
Remote Inspection of Nuclear Power Plants Using Telerobotics”
IEEE 1999.
 Alvarez, B.; Iborra, A.; Alonso, A.; de la Puente, J.A.; Pastor, J.A.;
“Developing Multi-application Remote Systems”,Nuclear
Engineering Int. vol 45, March 2000.
 Pastor, J.A.; Alvarez B.; Iborra, A.; Fernandez, J.M.: “An
Underwater Teleoperated Vehicle for Inspection and
Retrieving”,1st Intl. Symposium; Brussels ,November 1998.
 Iborra, A; Alvarez, B.; Navarro, P.J.; Fernandez, J.M.; Pastor, J.A:
“Robotized System for Retrieving Fallen Objects Within the
Reactor Vessel of a Nuclear Power Plant”,Intl.Symposium,
Industrial Electronics, Mexico; IEEE 2000.
 http://www.smh.com.au/articles/2002/08/28/1030053075600.html

seminar on Robots in radioactive environment

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