Autonomous Nuclear Waste Management
Autonomous Nuclear Waste Management
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DOI：
10.1109/mis.2018.111144814
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发表时间：
2018-11-01
影响因子：
6.4
通讯作者：
Mort, Paul E.
中科院分区：
文献类型：
--
作者：
Aitken, Jonathan M.;Veres, Sandor M.;Mort, Paul E.
在一段时间内，核设施中多余的和不能运行的建筑将被退役。这一过程涉及拆除有形基础设施，造成大量剩余废料。产生的废物被装进进口集装箱，运往后处理，其中要么装有密封的罐，要么装有各种杂物。目前，后处理不在英国境内进行。Sellafield Ltd.和国家核实验室正在开发一种未来运营的流程，以便在进行初步检查时，进口废物在装入出口集装箱之前经过两个阶段的后处理，即分类和分离或分类和破碎。后处理设施将在下游封装之前远程处理和出口各种废物。某些废物在出口前需要额外处理，如破坏，以确保适合长期处置。本文的重点是设计、开发和演示一个可重构的基于理性代理的机器人系统，其目的是使这些过程高度自动化，而不需要密切的人工监督。拟议的系统正在通过一个缩小的、基于实验室的设置进行演示，其中包括一个小型机械臂、一个飞行时间摄像头和基于高级Rational代理的决策和控制框架。
Redundant and nonoperational buildings at nuclear sites are decommissioned over a period of time. The process involves demolition of physical infrastructure resulting in large quantities of residual waste material. The resulting waste materials are packed into import containers to be delivered for postprocessing, containing either sealed canisters or assortments of miscellaneous objects. At present postprocessing does not happen within the United Kingdom. Sellafield Ltd. and National Nuclear Laboratory are developing a process for future operation so that upon an initial inspection, imported waste materials undergo two stages of postprocessing before being packed into export containers, namely sort and segregate or sort and disrupt. The postprocessing facility will remotely treat and export a wide range of wastes before downstream encapsulation. Certain wastes require additional treatment, such as disruption, before export to ensure suitability for long-term disposal. This paper focuses on the design, development, and demonstration of a reconfigurable rational agent-based robotic system that aims to highly automate these processes removing the need for close human supervision. The proposed system is being demonstrated through a downsized, lab-based setup incorporating a small-scale robotic arm, a time-of-flight camera, and high-level rational agent-based decision making and control framework.