Alpha Glovebox Decommissioning Feasibility Study

最近对新切割技术的研究和演示表明，部署配备激光的机器人进行远程切割操作可以带来巨大的好处，并在一定程度上实现更安全、更快和更便宜的核退役的预期结果。然而，该技术的能力、集成和使用仍存在很大的不确定性，因此需要设计、集成和演示系统(S)，以实现阿尔法污染的手套箱和其他大型阿尔法污染物品的尺寸缩小。这项工作将证明，使用远程人工智能技术，激光切割方法比人工缩小尺寸方法具有真正的优势。具有7轴控制的机器人激光切割系统将由悬挂在可移动轨道/起重机/门架上的机械手臂式机器人组成。机器人将是一个标准的工业机器人--例如，KUKA KR系列中的一个--安装在一个可移动的平台下。该平台将依次连接到需要该系统的设施上方的龙门起重机(或类似设备)上。这将有效地允许机器人从上方下降到设施中执行操作任务。该系统需要为所部署的平台配备额外的定位系统。这将使得能够在任何给定时间知道平台相对于某个初始位置的位置。机器人将被编程为知道其末端执行器相对于其底座的位置--对于该系统来说，底座将是悬挂在门架上的平台。同样，任何工具都将知道相对于机器人末端执行器的位置数据。因此，通过从初始位置应用适当的线性变换，应该可以计算出工具相对于龙门初始位置的准确位置。这将使设施中的机器人能够执行高精度的操作。这些可能包括对设施的高精度扫描(使用点云扫描设备)、对设施中物品的操纵、尺寸缩小等--任何原本可能由具有固定机器人的传统设施执行的物品。成功的关键方面将是通过系统化的项目管理确保：·工程设计·技术集成·数据融合和数据分析·软件开发·激光和油烟管理开发项目的输出将是系统的全面可行性研究。

"Recent studies and demonstration of new cutting techniques have identified that deployment of robots with lasers for remote cutting operations could offer significant benefit and go some way to achieve the desired outcome of safer, faster and cheaper nuclear decommissioning. However, there still remains significant uncertainty over the capability, integration and use of the technology, therefore there is a need to design, integrate and demonstrate the system(s) to enable size reduction of alpha contaminated gloveboxes and other large alpha contaminated items.This work will identify that laser cutting has real advantages over manual size reduction methods with the use of remote AI technologies.The robot laser cutting system with 7th axis control would consist of a manipulator arm type robot suspended from a movable track/crane/gantry. The robot would be a standard industrial robot -- for example, one from the KUKA KR series -- mounted underneath a movable platform. This platform would in turn be attached to a gantry crane (or similar) above a facility where the system was required. This would effectively allow the robot to be lowered in to the facility from above to perform manipulation tasks.The system needs to have an additional positional system for the platform being deployed. This would enable the position of the platform relative to some home position to be known at any given time. The robot would be programmed to know the position of its end effector relative to its base - which for this system would be the platform suspended from the gantry. Similarly, any tools would know positional data relative to the robots end effector. Thus, by applying the appropriate linear transforms from the home position, it should be possible to work out the exact position of the tool relative to the home position of the gantry. This would allow high accuracy operations to be performed by the robot in the facility. These might include high accuracy scans of a facility (using a point cloud scanning device), manipulation of items in the facility, size reduction, etc - any items which might otherwise be performed by a conventional facility with a stationary robot.The key aspects to success will be through the systematic project management ensuring:• Engineering design• Technology integration• Date fusion and data analytics• Software development• Laser and Fume management developmentsThe output of the project will be a full feasibility study of the system."