Alpha Glovebox Decommissioning Feasibility Study

Alpha 手套箱退役可行性研究

• 批准号: 104068
• 金额: $ 19.84万
• 依托单位: NATIONAL NUCLEAR LABORATORY LIMITED
• 依托单位国家: 英国
• 项目类别: Collaborative R&D
• 财政年份: 2018
• 资助国家: 英国
• 起止时间: 2018 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=104068
• 关键词: Alpha; Glovebox; Decommissioning; Feasibility; Study

"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."

“最近的研究和新切割技术的演示已经确定，部署带有激光的机器人进行远程切割操作可以提供显着的好处，并在某种程度上实现更安全，更快和更便宜的核退役的预期结果。然而，在该技术的能力、集成和使用方面仍然存在很大的不确定性，因此需要设计，集成和演示系统使阿尔法污染的手套箱和其他大型阿尔法污染物品的尺寸减小。这项工作将确定激光切割与使用远程AI技术的手动尺寸减小方法相比具有真实的优势。机器人激光切割系统具有第七轴的控制将包括悬挂在可移动轨道/起重机/龙门架上的操纵臂型机器人。该机器人将是一个标准的工业机器人-例如，一个来自KUKA KR系列-安装在一个可移动的平台下面。该平台又将连接到需要该系统的设施上方的龙门起重机（或类似物）。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。该系统需要为正在部署的平台提供额外的定位系统。这将使得平台相对于某个原始位置的位置在任何给定时间都是已知的。机器人将被编程为知道其末端执行器相对于其基座的位置-对于该系统而言，基座将是悬挂在龙门架上的平台。类似地，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，通过从原始位置应用适当的线性变换，应该可以计算出工具相对于台架原始位置的精确位置。这将允许由设施中的机器人执行高精度操作。这些可能包括设施的高精度扫描（使用点云扫描设备）、操作设施中的物品、缩小尺寸等--否则可能由具有固定机器人的传统设施执行的任何项目。成功的关键方面将通过系统的项目管理来确保：·工程设计·技术集成·数据融合和数据分析·软件开发·激光和烟雾管理的发展该项目的产出将是一个完整的系统的可行性研究。"