Design of a remote control system for maintaining and repairing tasks in NPP

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/weld...

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Bibliographic Details
Published in2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) pp. 454 - 456
Main Authors Hocheol Shin, You-rak Choi, Chang-hoi Kim
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2017
Subjects
Cameras
Control systems
egocentric remote control
Fuels
Manipulators
Mobile communication
psychophysics experiment
Robot vision systems
shared control
system architecture design
virtual guide
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DOI10.1109/URAI.2017.7992774

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Summary: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 developed is composed of a master device, a slave robot, and a mobile platform, as well as a telescopic mast that moves the slave robot to the desired position. To effectively perform remote tasks, we designed the architecture of an integrating program. The integrating program has a system components control module, a virtual guide implementing module, and egocentric remote control algorithms. We also designed psychophysics experiment for evaluating the individual technologies and integrated systems.
DOI:10.1109/URAI.2017.7992774