Towards the use of robotic systems at nuclear facilities

Towards the use of robotic systems at nuclear facilities

Boris A. Spassky
PhD in Technical Sciences, Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Head of Section, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-13-25, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-5210-5408

Alexander V. Popov
PhD in Technical Sciences, RTC, Deputy Director for Science, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-6484-4411

Igor Yu. Dalyaev
PhD in Technical Sciences, RTC, Deputy Chief Designer for Robotics and Robotics Industry, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(911)229-73-01, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-0494-065X, ResearcherID: E-1650-2014

Received 15 December 2020

Abstract
The article addresses the matter of the mobile robotic systems (MRS) application at nuclear industry and nuclear energy facilities. Three main types of tasks solved with the help of MRS in order to ensure safety and reduce the radiation load on personnel are described. The scope of application and general requirements for such MRS, typical technological operations, control modes and human-robot interaction are discussed. It is shown that highly specialized robots are mainly used and that their design doesn’t imply a prompt replacement of the payload and adaptation to various tasks. It is noted that most of the modern MRS designed to operate at radiation-hazardous facilities are still teleoperated. The necessity of creating multifunctional modular reconfigurable MRS of various standard-size groups for use at nuclear facilities and increasing the level of their autonomy is substantiated.

Key words
Mobile robotic system, UGV, nuclear facility, teleoperation, supervisory control.

Acknowledgements
This work was carried out within the framework of the state assignment of the Ministry of Education and Science of Russia No. 075-00913-21-00 dated December 25, 2020 «Development of proposals for improving the state scientific, technical and industrial policy and popularizing achievements in the field of robotics based on an analysis of trends in the development of robotics in Russia and abroad».

DOI
10.31776/RTCJ.9401

Bibliographic description
Spassky, B., Popov, A. and Dalyaev, I., 2021. Towards the use of robotic systems at nuclear facilities. Robotics and Technical Cybernetics, 9(4), pp.245-251.

UDC identifier:
004.896:007.52:62-519:621.039

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