Research and Teaching using a HydraulicallyActuated Nuclear Decommissioning

  • Slides: 6
Download presentation
Research and Teaching using a Hydraulically-Actuated Nuclear Decommissioning Robot Craig West Supervisors: C. J.

Research and Teaching using a Hydraulically-Actuated Nuclear Decommissioning Robot Craig West Supervisors: C. J. Taylor, S. Monk, A. Montazeri Lancaster University Univ logo UKACC Ph. D Presentation Showcase

Aim of research Ø Use Semi-autonomous control to solve a real world problem in

Aim of research Ø Use Semi-autonomous control to solve a real world problem in nuclear decommissioning i. e. pipe cutting, using a mobile dual armed hydraulic robot. Ø Combine with 3 D vision system to improve teleoperation capability Univ logo UKACC Ph. D Presentation Showcase Slide 2

Introduction Ø Background § Robots needed in Nuclear Decommissioning due to hazardous environment §

Introduction Ø Background § Robots needed in Nuclear Decommissioning due to hazardous environment § Current robots quite limited Ø Current work § Kinematics calculated to get from target position to necessary joint angles for the arm, needed for closed loop control § Prototype vision system developed to segment image and generate target position for each arm § Graphical simulation of dual arm system developed Univ logo UKACC Ph. D Presentation Showcase Slide 3 Right image - http: //www. brokk. com/applications/#nuclear Left image - http: //www. ocrobotics. com/applications--solutions/nuclear-case-study--lasersnake

Kinematics, forward and inverse Ø Transformation matrix, gives rotation and position of end effector

Kinematics, forward and inverse Ø Transformation matrix, gives rotation and position of end effector relative to base coordinate frame Univ logo UKACC Ph. D Presentation Showcase Slide 4

Vision system Ø Uses a Microsoft Kinect Ø Takes screenshot, and segments image based

Vision system Ø Uses a Microsoft Kinect Ø Takes screenshot, and segments image based on edge detection Ø User selects point for grasping and saw position automatically calculated, OR user selects both grasping and saw points Univ logo UKACC Ph. D Presentation Showcase Slide 5

Conclusion Ø Identified real world problem - pipe grasping and sawing Ø Solved manipulator

Conclusion Ø Identified real world problem - pipe grasping and sawing Ø Solved manipulator Kinematics to allow closed loop control Ø Developed prototype 3 D vision system Ø Tested in simulations Ø Ready to test on actual robot Ø Based on test results will improve vision system and control system for arms, including collision avoidance Univ logo UKACC Ph. D Presentation Showcase Slide 6

Bruce Lake Vermilion Decommissioning Decommissioning has already takenBruce Lake Vermilion Decommissioning Decommissioning has already taken
UE Activities about Nuclear Decommissioning Nuclear Energy andUE Activities about Nuclear Decommissioning Nuclear Energy and
Nuclear decommissioning Turning waste into Wealth Radiochemistry andNuclear decommissioning Turning waste into Wealth Radiochemistry and
Decontamination And Volume Reduction Techniques For Nuclear DecommissioningDecontamination And Volume Reduction Techniques For Nuclear Decommissioning
American Nuclear Society Decommissioning Decontamination and Reutilization DivisionAmerican Nuclear Society Decommissioning Decontamination and Reutilization Division