Abstract
We propose Radibot, a simple and cheap robotic arm for remote inspection, which interacts with the radwaste environment by means of a scintillation gamma detector and a video camera representing its light (< 1 kg) payload. It moves vertically thanks to a crane, while the other three degrees of freedom are obtained by means of revolute joints. A dedicated algorithm allows to automatically choose the best kinematics in order to reach a graphically selected position, while still allowing to fully drive the arm by means of a standard videogame joypad.
Highlights
The term radioactive waste indicates waste containing radioactive material
We propose Radibot, a simple and cheap robotic arm for remote inspection, which interacts with the radwaste environment by means of a scintillation gamma detector and a video camera representing its light (< 1 kg) payload
The only viable solution proposed so far to the problem posed by the radioactive waste produced all over the world, is packing it into special drums to be segregated into suitable storage sites, for short and medium term radwaste, or into so called geological burial sites for long-term radwaste
Summary
L. Russo1, L. Cosentino1, A. Pappalardo1, M. Piscopo1, C. Scirè1, S. Scirè1, G. Vecchio1, G. Muscato2 and P. Finocchiaro1 1 INFN Laboratori Nazionali del Sud, via S. Sofia 62, 95125 Catania, Italy 2 DIEEI, Università di Catania, via S. Sofia 64, Catania, Italy
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