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Robotics And Remote Handling In Nuclear Decommissioning

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Robotics and Remote Handling in Nuclear Decommissioning

Robotics and Remote Handling in Nuclear Decommissioning Book
Author : Mark Noakes
Publisher : Woodhead Publishing
Release : 2021-09-01
ISBN : 0128159359
Language : En, Es, Fr & De

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Book Description :

Robotics and Remote Handling in Nuclear Decommissioning is an essential guide to the various robotic and remote system tools available to complete decommissioning tasks that cannot be completed by human workers hands-on due to ALARA constraints. The book provides readers with a guide to what has worked in the past for given types of decommissioning tasks based on broad community experience. It also examines leading-edge developments in research which are expected to be highly useful to those developing new technologies. Chapters in the first section of the book set the scene by introducing the topic and reviewing its history. Part 2 then focuses on available technologies, from long handle tooling to remote cranes, mobile platforms and telerobotics. A series of case studies then address lessons learned in real world nuclear decommissioning operations. The final chapters review the regulatory environment and its implications. The book will be a valuable reference for engineers and managers in the nuclear industry, technology developers, researchers and graduate students with an interest in applied robotics and nuclear decommissioning. Uses case studies to illustrate key lessons learned from past clean-ups Provides examples that identify the limits of what can be done with current technology and within current regulatory frameworks around the world Discusses technology needs for further development then goes on to identify current research in robotics that others may leverage to their advantage

Towards Advanced Robotic Manipulations for Nuclear Decommissioning

Towards Advanced Robotic Manipulations for Nuclear Decommissioning Book
Author : Naresh Marturi
Publisher : Unknown
Release : 2017
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Despite enormous remote handling requirements, remarkably very few robots are being used by the nuclear industry. Most of the remote handling tasks are still performed manually, using conventional mechanical master-slave devices. The few robotic manipulators deployed are directly tele-operated in rudimentary ways, with almost no autonomy or even a pre-programmed motion. In addition, majority of these robots are under-sensored (id est with no proprioception), which prevents them to use for automatic tasks. In this context, primarily this chapter discusses the human operator performance in accomplishing heavy-duty remote handling tasks in hazardous environments such as nuclear decommissioning. Multiple factors are evaluated to analyse the human operators' performance and workload. Also, direct human tele-operation is compared against human-supervised semi-autonomous control exploiting computer vision. Secondarily, a vision-guided solution towards enabling advanced control and automating the under-sensored robots is presented. Maintaining the coherence with real nuclear scenario, the experiments are conducted in the lab environment and results are discussed.

Application of Remotely Operated Handling Equipment in the Decommissioning of Nuclear Facilities

Application of Remotely Operated Handling Equipment in the Decommissioning of Nuclear Facilities Book
Author : International Atomic Energy Agency
Publisher : Unknown
Release : 1993
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Application of Remotely Operated Handling Equipment in the Decommissioning of Nuclear Facilities book written by International Atomic Energy Agency, available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Teleoperation Numerical Simulation and Experimental Validation

Teleoperation  Numerical Simulation and Experimental Validation Book
Author : Marc C. Becquet
Publisher : Springer Science & Business Media
Release : 2012-12-06
ISBN : 9401126488
Language : En, Es, Fr & De

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Book Description :

Based on the Lectures given during the Eurocourse on 'Teleoperation: Numerical Simulation and Experimental Validation' held at the Joint Research Centre Ispra, Italy, November 18-22, 1991

Nuclear Decommissioning

Nuclear Decommissioning Book
Author : Michele Laraia
Publisher : Elsevier
Release : 2012-02-21
ISBN : 0857095331
Language : En, Es, Fr & De

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Book Description :

Once a nuclear installation has reached the end of its safe and economical operational lifetime, the need for its decommissioning arises. Different strategies can be employed for nuclear decommissioning, based on the evaluation of particular hazards and their attendant risks, as well as on the analysis of costs of clean-up and waste management. This allows for decommissioning either soon after permanent shutdown, or perhaps a long time later, the latter course allowing for radioactivity levels to drop in any activated or contaminated components. It is crucial for clear processes and best practices to be applied in decommissioning such installations and sites, particular where any significant health and environmental risks exist. This book critically reviews the nuclear decommissioning processes and technologies applicable to nuclear power plants and other civilian nuclear facilities. Part one focuses on the fundamental planning issues in starting a nuclear decommissioning process, from principles and safety regulations, to financing and project management. Part two covers the execution phase of nuclear decommissioning projects, detailing processes and technologies such as dismantling, decontamination, and radioactive waste management, as well as environmental remediation, site clearance and reuse. Finally, part three details international experience in the decommissioning of nuclear applications, including the main nuclear reactor types and nuclear fuel cycle facilities, as well as small nuclear facilities and legacy nuclear waste sites. Critically reviews nuclear decommissioning processes and technologies applicable to nuclear power plants and other civilian nuclear facilities Discusses the fundamental planning issues in starting a nuclear decommissioning process Considers the execution phase of nuclear decommissioning projects, including dismantling, decontamination, and radioactive waste management, as well as environmental remediation, site clearance and reuse

Robots Operating in Hazardous Environments

Robots Operating in Hazardous Environments Book
Author : Hüseyin Canbolat
Publisher : BoD – Books on Demand
Release : 2017-12-20
ISBN : 9535136798
Language : En, Es, Fr & De

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Book Description :

Robots are used in industry, rescue missions, military operations, and subwater missions. Their use in hazardous environments is crucial in terms of occupational safety of workers and the health of rescue and military operations. This book presents several hazardous environment operations and safe operations of robots interacting with people in the context of occupational health and safety.

Visual Servoing in Robotics

Visual Servoing in Robotics Book
Author : Jorge Pomares
Publisher : MDPI
Release : 2021-08-31
ISBN : 3036503447
Language : En, Es, Fr & De

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Book Description :

Visual servoing is a well-known approach to guide robots using visual information. Image processing, robotics, and control theory are combined in order to control the motion of a robot depending on the visual information extracted from the images captured by one or several cameras. With respect to vision issues, a number of issues are currently being addressed by ongoing research, such as the use of different types of image features (or different types of cameras such as RGBD cameras), image processing at high velocity, and convergence properties. As shown in this book, the use of new control schemes allows the system to behave more robustly, efficiently, or compliantly, with fewer delays. Related issues such as optimal and robust approaches, direct control, path tracking, or sensor fusion are also addressed. Additionally, we can currently find visual servoing systems being applied in a number of different domains. This book considers various aspects of visual servoing systems, such as the design of new strategies for their application to parallel robots, mobile manipulators, teleoperation, and the application of this type of control system in new areas.

Reinventing Mechatronics

Reinventing Mechatronics Book
Author : Xiu-Tian Yan,David Bradley,David Russell,Philip Moore
Publisher : Springer Nature
Release : 2020-01-14
ISBN : 3030291316
Language : En, Es, Fr & De

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Book Description :

This book presents the latest research on mechatronic systems engineering. By bringing together the most important papers from the 2018 Mechatronics Forum Conference ‘Reinventing Mechatronics,’ it outlines key trends in research and applications that will define mechatronics for the next 50 years. Mechatronics was established as an engineering discipline over 50 years ago, as the integration of electronics and information technology with mechanical design. Given major technological advances and the growth of systems-level concepts such as Cyber-Physical Systems and the Internet of Things, along with Cloud Technologies and Big Data, it’s now high time to reconsider the role of mechatronics, particularly within engineering design. Past and ongoing technological changes are impacting how systems are designed and configured in ways that could never have been envisaged when the field of mechatronics was first introduced.

Intelligent Systems and Applications

Intelligent Systems and Applications Book
Author : Kohei Arai,Supriya Kapoor,Rahul Bhatia
Publisher : Springer
Release : 2018-11-07
ISBN : 3030010570
Language : En, Es, Fr & De

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Book Description :

Gathering the Proceedings of the 2018 Intelligent Systems Conference (IntelliSys 2018), this book offers a remarkable collection of chapters covering a wide range of topics in intelligent systems and computing, and their real-world applications. The Conference attracted a total of 568 submissions from pioneering researchers, scientists, industrial engineers, and students from all around the world. These submissions underwent a double-blind peer review process, after which 194 (including 13 poster papers) were selected to be included in these proceedings. As intelligent systems continue to replace and sometimes outperform human intelligence in decision-making processes, they have made it possible to tackle many problems more effectively. This branching out of computational intelligence in several directions, and the use of intelligent systems in everyday applications, have created the need for such an international conference, which serves as a venue for reporting on cutting-edge innovations and developments. This book collects both theory and application-based chapters on all aspects of artificial intelligence, from classical to intelligent scope. Readers are sure to find the book both interesting and valuable, as it presents state-of-the-art intelligent methods and techniques for solving real-world problems, along with a vision of future research directions.

Disarmament and Decommissioning in the Nuclear Domain

Disarmament and Decommissioning in the Nuclear Domain Book
Author : Jean-Claude Amiard
Publisher : John Wiley & Sons
Release : 2021-09-15
ISBN : 1786307219
Language : En, Es, Fr & De

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Book Description :

Following the acquisition of the atomic bomb by five states, the United Nations began drafting several treaties to limit nuclear proliferation. These efforts failed, as four more states also acquired nuclear weapons. In a similar vein, an attempt to limit atomic weapons - primarily within the two superpowers - was initiated. While the number of weapons has decreased, the new bombs now being manufactured are more powerful and more precise, negating any reduction in numbers. In the field of civil nuclear use, all nuclear facilities (reactors, factories, etc.) have a limited lifespan. Once a plant is permanently shut down, these facilities must be decommissioned and dismantled. These operations are difficult, time-consuming and costly. In addition, decommissioning generates large volumes of radioactive waste of various categories, including long-lived and high-activity waste. Risks to the environment and to health are not negligible during decommissioning. The International Atomic Energy Agency (IAEA) and the Nuclear Energy Agency (NEA) of the Organisation for Economic Co-operation and Development (OECD) have produced numerous publications with recommendations. Each state has its own decommissioning strategy (immediate or delayed) and final plan for the site - whether it be returning it to greenfield status or obtaining a nuclear site license with centuries-long monitoring.

Nuclear Decommissioning Waste Management and Environmental Site Remediation

Nuclear Decommissioning  Waste Management  and Environmental Site Remediation Book
Author : Colin Bayliss,Kevin Langley
Publisher : Elsevier
Release : 2003-10-10
ISBN : 9780080537788
Language : En, Es, Fr & De

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Book Description :

Decommissioning nuclear facilities is a relatively new field, which has developed rapidly in the last ten years. It involves materials that may be highly radioactive and therefore require sophisticated methods of containment and remote handling. The wastes arising from decommissioning are hazardous and have to be stored or disposed of safely in order to protect the environment and future generations. Nuclear decommissioning work must be carried out to the highest possible standards to protect workers, the general public and the environment. This book describes the techniques used for dismantling redundant nuclear facilities, the safe storage of radioactive wastes and the restoration of nuclear licensed sites. * Describes the techniques used for dismantling nuclear facilities, safe storage of radioactive wastes, and the restoration of nuclear licensed facilities. * Provides the reader with decommissioning experience accumulated over 15 years by UKAEA. * Contains valuable information to personnel new to decommissioning and waste management.

Advanced Robotics Intelligent Machines

Advanced Robotics   Intelligent Machines Book
Author : Institution of Electrical Engineers
Publisher : IET
Release : 1996
ISBN : 9780852968536
Language : En, Es, Fr & De

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Book Description :

Advanced robotics' describes the use of sensor-based robotic devices which exploit powerful computers to achieve the high levels of functionality that begin to mimic intelligent human behaviour. The object of this book is to summarise developments in the base technologies, survey recent applications and highlight new advanced concepts which will influence future progress. I. Technologies (Recent developments in advanced robotics and intelligent systems; Machine intelligence - architectures, controllers and applications; Advanced control systems for robotic arms; Intelligent gripping systems; Force feedback control in robots applied to decommissioning; Tele-presence control of robots; Sensing and sensor management for planning); II Applications (Robotics in the nuclear industry; Robots in surgery; Intelligent autonomous systems for cars; Walking machine technology; Handling of flexible materials in automation; Robotics in food manufacturing; Robotic milking; Error-free semiconductor wafer handling); III Advanced concepts and procedures (The concept of robot society and its utilisation; Miniature and microrobotics; Characteristics of robot behavior; A behaviour synthesis architecture for co-operant mobile robots; Co-operant behaviour in multiple manipulators; Neural networks in automation procedures; Parallel processing, neural networks and genetic algorithms for real-time robot control); Index.

Energy Research Abstracts

Energy Research Abstracts Book
Author : Anonim
Publisher : Unknown
Release : 1994-04
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Energy Research Abstracts book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Handbook of Industrial Robotics

Handbook of Industrial Robotics Book
Author : Shimon Y. Nof
Publisher : John Wiley & Sons
Release : 1999-03-02
ISBN : 9780471177838
Language : En, Es, Fr & De

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Book Description :

About the Handbook of Industrial Robotics, Second Edition: "Once again, the Handbook of Industrial Robotics, in its Second Edition, explains the good ideas and knowledge that are needed for solutions." -Christopher B. Galvin, Chief Executive Officer, Motorola, Inc. "The material covered in this Handbook reflects the new generation of robotics developments. It is a powerful educational resource for students, engineers, and managers, written by a leading team of robotics experts." - Yukio Hasegawa, Professor Emeritus, Waseda University, Japan. "The Second Edition of the Handbook of Industrial Robotics organizes and systematizes the current expertise of industrial robotics and its forthcoming capabilities. These efforts are critical to solve the underlying problems of industry. This continuation is a source of power. I believe this Handbook will stimulate those who are concerned with industrial robots, and motivate them to be great contributors to the progress of industrial robotics." -Hiroshi Okuda, President, Toyota Motor Corporation. "This Handbook describes very well the available and emerging robotics capabilities. It is a most comprehensive guide, including valuable information for both the providers and consumers of creative robotics applications." -Donald A. Vincent, Executive Vice President, Robotic Industries Association 120 leading experts from twelve countries have participated in creating this Second Edition of the Handbook of Industrial Robotics. Of its 66 chapters, 33 are new, covering important new topics in the theory, design, control, and applications of robotics. Other key features include a larger glossary of robotics terminology with over 800 terms and a CD-ROM that vividly conveys the colorful motions and intelligence of robotics. With contributions from the most prominent names in robotics worldwide, the Handbook remains the essential resource on all aspects of this complex subject.

Sodium Fast Reactors with Closed Fuel Cycle

Sodium Fast Reactors with Closed Fuel Cycle Book
Author : Baldev Raj,P. Chellapandi,P.R. Vasudeva Rao
Publisher : CRC Press
Release : 2015-04-15
ISBN : 1466587695
Language : En, Es, Fr & De

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Book Description :

Sodium Fast Reactors with Closed Fuel Cycle delivers a detailed discussion of an important technology that is being harnessed for commercial energy production in many parts of the world. Presenting the state of the art of sodium-cooled fast reactors with closed fuel cycles, this book:Offers in-depth coverage of reactor physics, materials, design, s

Nuclear Safety

Nuclear Safety Book
Author : Anonim
Publisher : Unknown
Release : 1985
ISBN : 0987650XXX
Language : En, Es, Fr & De

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Book Description :

Download Nuclear Safety book written by , available in PDF, EPUB, and Kindle, or read full book online anywhere and anytime. Compatible with any devices.

Springer Handbook of Robotics

Springer Handbook of Robotics Book
Author : Bruno Siciliano,Oussama Khatib
Publisher : Springer Science & Business Media
Release : 2008-05-20
ISBN : 354023957X
Language : En, Es, Fr & De

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Book Description :

With the science of robotics undergoing a major transformation just now, Springer’s new, authoritative handbook on the subject couldn’t have come at a better time. Having broken free from its origins in industry, robotics has been rapidly expanding into the challenging terrain of unstructured environments. Unlike other handbooks that focus on industrial applications, the Springer Handbook of Robotics incorporates these new developments. Just like all Springer Handbooks, it is utterly comprehensive, edited by internationally renowned experts, and replete with contributions from leading researchers from around the world. The handbook is an ideal resource for robotics experts but also for people new to this expanding field.

Remote Techniques for Nuclear Plant

Remote Techniques for Nuclear Plant Book
Author : Anonim
Publisher : Thomas Telford
Release : 1993
ISBN : 0727719319
Language : En, Es, Fr & De

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Book Description :

This volume covers the practical application of remote technology to all types of nuclear plant, both experimental and commercial. It concentrates on the remote inspection, refurbishment and decommissioning of: reactor pressure vehicles; reactor internal components, primary circuits, boiler and steam generators, PIE. and fuel routes, reprocessing plant and radioactive waste storage. The emphasis is on equipment currently in use, and it also covers equipment under consideration and development. Consisting of 44 papers, these proceedings draw on the experience of nuclear engineers from around the world to form a substantial reference work on remote techniques for the inspection and refurbishment of nuclear plant.

Radiation Tolerant Delta Sigma Time to Digital Converters

Radiation Tolerant Delta Sigma Time to Digital Converters Book
Author : Ying Cao,Paul Leroux,Michiel Steyaert
Publisher : Springer
Release : 2015-02-09
ISBN : 3319118420
Language : En, Es, Fr & De

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Book Description :

This book focuses on the design of a Mega-Gray (a standard unit of total ionizing radiation) radiation-tolerant ps-resolution time-to-digital converter (TDC) for a light detection and ranging (LIDAR) system used in a gamma-radiation environment. Several radiation-hardened-by-design (RHBD) techniques are demonstrated throughout the design of the TDC and other circuit techniques to improve the TDC's resolution in a harsh environment are also investigated. Readers can learn from scratch how to design a radiation-tolerant IC. Information regarding radiation effects, radiation-hardened design techniques and measurements are organized in such a way that readers can easily gain a thorough understanding of the topic. Readers will also learn the design theory behind the newly proposed delta-sigma TDC. Readers can quickly acquire knowledge about the design of radiation-hardened bandgap voltage references and low-jitter relaxation oscillators, which are introduced in the content from a designer's perspective. · Discusses important aspects of radiation-tolerant analog IC design, including realistic applications and radiation effects on ICs; · Demonstrates radiation-hardened-by-design techniques through a design-test-radiation assessment practice; · Describes a new type of Time-to-Digital (TDC) converter designed for radiation-tolerant application; · Explains the design and measurement of all functional blocks (e.g., bandgap reference, relaxation oscillator) in the TDC.