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Robotic System for Inspection, Maintenance, and Repair in a Contaminated Vessel

This case study explores the use of a robotic system for inspection, maintenance, and repair tasks in a tritium and beryllium contaminated vessel during shutdown. The system includes a bilateral master/slave telerobotic manipulator with haptic feedback, controlled by an operator via software. The system handles tools and components, such as activated metal components and beryllium tiles, while mitigating hazards and challenges caused by the environment.

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Robotic System for Inspection, Maintenance, and Repair in a Contaminated Vessel

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  1. Case Study MASCOT • Sally Forbes

  2. MASCOT • Electronic Exhibition In Rome 1962: https://www.britishpathe.com/video/electronic-exhibition-in-rome/query/3056_23 • Remote handling system installing a tile in EFDA-JET’s new “ITER-Like Wall”: http://www.ccfe.ac.uk/videos.aspx?currVideo=4&currCateg=0

  3. The Robotic System • What hardware does it have? • bilateral master / slave telerobotic manipulator system with haptic feedback • attached to an articulated boom for positioning • What level of autonomy does it have? • remotely controlled by an operator via control software (computer assisted tele-operation) • software constraints on where arms can move, virtual forces / force scaling • some semi-autonomous/ automatic moves (eg. arms move to “home position”) • What sort of software implements any autonomous functions? • C++ on VX Works • Does the level of autonomy require hand-over between the system and a human operator • yes

  4. The Task and Environment • What does the robotic system have to do? • carry out inspection, maintenance, repair, removal and replacement of components inside the torus vessel during a shutdown • wide range of in-vessel tasks including welding, cutting, bolting, handling and inspection • What materials is the robot handling/manipulating? • tools required to carry out the above tasks • activated metal components, beryllium tiles (20kg handling capacity) • Will the robot become activated (so, can we remove it from its environment for maintenance or replacement)? • potentially contaminated with tritium and beryllium • has to be bagged for movement to a contained facility after operation • Are there any other environmental constraints? • only used in-vessel during a shutdown periods – vessel has become activated (gamma-rays) and is contaminated with tritium and beryllium dust • do not want to contaminate torus vessel with fluids, polymers, or leave any debris, dropped materials

  5. Key Hazards • Hazards caused by and mitigated by the robotic system • breach of vessel due to impact (eg. silica window) • during combined manual and remote handling work in-vessel, potential for injury to operator and/or damage to pressurised suit • Hazards of the task • personnel injury hazards on the master end • Hazards or challenges caused by the environment • space constraints • control systems remote due to radiation, large amount of wiring in the boom • unknown conditions in the tours (erosion, deposition, movement of components)

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