Robotic contamination cleaning system

摘要

This paper describes the development of a Robotic Contamination Cleaning System (RCCS) for use in the radioactive zone of the isolation room of the Irradiated Material Examination Facility (IMEF) at the Korea Atomic Energy Research Institute (KAERI). RCCS was designed to completely eliminate human interaction with the hazardous radioactive contaminants. RCCS is capable of cleaning the contaminated floor of the isolation room and collecting loose dry spent nuclear fuel debris and other radioactive waste fixed or scattered on the floor surface. RCCS is operated either by manual control or by autonomous control in conjunction with a graphical simulator, by which the human operator can monitor and intervene RCCS performing cleanup tasks in the isolation room. The mechanical design considerations, control system, and capabilities of RCCS in terms of remote cleanup operation and remote maintenance in the radioactive environment are presented.