Master-slave manipulator aided remote decontamination system

Abstract

This paper describes the development of a remote decontamination system for use in the highly radioactive zone of the ACP (Advanced spent fuel Conditioning Process) hot-cell at the Korea Atomic Energy Research Institute. The remote decontamination system was designed and developed to remotely clean the contaminated in-cell floor and walls and equipment’s surface where, as the hot-cell is active, a direct human access to the in-cell is not possible due to the high radioactivity level. The remote decontamination system is remotely operated with the aid of mechanical or bilateral master-slave manipulators located in the ACP hot-cell. The remote decontamination system, employing a vacuum cleaning method, consists of four replaceable units. Each unit was designed as modules to facilitate in a maintenance by a remote manipulation by using master-slave manipulators. This decontamination system has an ability to remotely collect contaminated particles of up to 0. 3 microns by employing a four stage filtration structure. The design considerations and capabilities of the remote decontamination system from a remote operation and maintenance viewpoint are also presented.