Development of a shared remote control robot for aerial work in nuclear power plants

• Published in: Nuclear engineering and technology Vol. 50; no. 4; pp. 613 - 618
• Main Authors: Shin, Hocheol, Jung, Seung Ho, Choi, You Rack, Kim, ChangHoi
• Format: Journal Article
• Language: English
• Published: Elsevier 01.05.2018; 한국원자력학회
• Subjects: 원자력공학
• ISSN: 1738-5733; 2234-358X
• DOI: 10.1016/j.net.2018.03.006

We are developing a shared remote control mobile robot for aerial work in nuclear power plants (NPPs); a robot consists of a mobile platform, a telescopic mast, and a dual-arm slave with a working tool. It is used at a high location operating the manual operation mechanism of a fuel changer of a heavy water NPP. The robot system can cut/weld a pipe remotely in the case of an emergency or during the dismantling of the NPP. Owing to the challenging control mission considering limited human operator cognitive capability, some remote tasks require a shared control scheme, which demands systematic software design and integration. Therefore, we designed the architecture of the software systematically. Keywords: Aerial Work, Nuclear Power Plant, Shared Remote Control Robot