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

• Published in: 2017 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
• Language: English
• 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
• DOI: 10.1109/URAI.2017.7992774

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.