Preventive maintenance and remote inspection of nuclear power plants using tele-robotics

摘要

This research involves the development of tele-robotics for preventive maintenance and remote inspection of nuclear power plants such as steam generator maintenance of reactor coolant systems and pressure tubes inspection of the calandria vessel in a pressurized heavy water reactor. The current research efforts are described which concentrate on the key technologies concerning a dexterous heavy duty manipulator system controlled with a master arm and remote controlled inspection mast attached to a mobile platform. Tele-operation is discussed in the area of real time controller, stereo monitoring system, and simulator with 3-D graphics in virtual environments. These robotic systems have been developed for keeping human workers from high radiation exposure in hostile nuclear environments and is expected to upgrade plant safety by remote inspection and preventive maintenance.