Remote dismantling system using a digital manufacturing system and workpiece localization for nuclear facility decommissioning

Abstract

A remote dismantling system using a semi-automated robotic system is presented for enhanced efficiency and protection against worker exposure in nuclear facility decommissioning. In the conventional nuclear facility decommissioning, application of an automated robotic system has been difficult due to radiation and harsh environments, so simple and repetitive remote dismantling operations involving field workers has been necessary. In this paper, a digital manufacturing system and workpiece localization are applied to realize a semi-automated remote dismantling system. The digital manufacturing system and workpiece localization enable robot path planning in a virtual environment and robot path correction for a field workpiece without requiring field workers to teach the robot. This paper presents a control framework for the remote dismantling system and methodologies for building a digital model that represent the robot system applied to an actual workshop and localizing the workpiece through 3D registration. Various experimental results using a robot system of actual size and a target structure similar to reactor internals in shape and material demonstrate the successful achievement of the presented remote dismantling system. The proposed control framework and methodologies are expected to contribute to the automation of simple repetitive dismantling operations and to reduce worker exposure.