Robotics and automation for optimal characterization for nuclear power plant decommissioning

世界上近三分之一的核电站（NPP）的使用年限超过30年，其中大部分将在未来几十年内退役，包括安大略发电公司的皮克林核电站。退役是指在核电站决定关闭后对设施进行的安全管理，包括拆除、包装和清除碎片以及安全储存活动。该提案的重点是开发自动化和机器人方法，特别是环境表征，以帮助拆除核电站，最终目标是减少因退役活动而导致的人类暴露。预计本研究的结果将显著增强工具和过程，为退役机器人提供有关设施环境的语义模型输入，自动废物选择，以及低到中级废物处理的包装优化。鉴于此背景，本提案侧重于解决以下主要目标：(i)开发有效的方法来创建已建成的建筑信息模型；（ii）开发和实施填充此类模型所需的必要特征信息，特别是针对和优化自动化退役任务和将要使用的设备类型；（iii）将于本项目期间开发的概念及工具的概念验证示范；（iv）以实现上述目标所获得的知识为基础，解决库存评估和选择性拆卸问题，以优化拆卸、拆卸和包装。虽然这一阶段的研究将侧重于使用传感器对设施进行表征，但预计这项工作将为机器人工具和设备的设计和开发奠定基础，以协助该研究伙伴关系后续计划阶段的净化和拆除活动。

Nearly a third of the world's nuclear power plants (NPPs) are over 30 years old, and a large number of these will be decommissioned in the coming decades, including the Ontario Power Generation's Pickering NPP. Decommissioning refers to the safe management of the facility following the decision to shut down a NPP, which includes demolition, packaging and removal of debris, and safe storage activities. The focus of this proposal is on developing automation and robotic methods, specifically environment characterization to aid in the deconstruction of NPPs, with the ultimate goal of reducing exposure of humans as a result of decommissioning activities. It is anticipated that the results of this study will significantly enhance the tools and the process of providing semantic model inputs regarding the facility environment to decommissioning robots, automated waste selection, and packing optimization for low to intermediate waste disposal. Given the context, this proposal focuses on addressing the following main goals: (i) develop efficient methods to create as-built Building Information Models; (ii) develop and implement the requisite characterization information necessary to populate such models, specifically targeting and optimizing automated decommissioning tasks and the types of equipment to be used; (iii) proof-of-concept demonstration of the concepts and tools which will be developed during this project; and (iv) build on the knowledge gained in meeting the preceding objectives to address inventory assessment and selective disassembly for optimization of demolition, disassembly and packing. While this phase of the study will focus on the facility characterization using sensors, it is anticipated that this work will lay the groundwork for the design and development of robotic tools and equipment to assist with decontamination and dismantling activities in the subsequent planned phases of this research partnership.