Robotics in Extreme Radiation Environments Outline Context the

Robotics in Extreme Radiation Environments

Outline • Context: the environment of Chernobyl • Pioneer as an example of a rad-hard robot • Lessons learned

Chernobyl reactor

After

Upper Bio Shield

UBS

Aerial view of UBS

Aerial view after explosion

Scale of radiation dispersal

Aerial view of construction

South end of roof Mammoth Beam

Final stages of shelter construction

The Finished Shelter

View from inside

Mammoth beam

NG UBS corium

Steam distribution headers

Corium in Steam Distribution Header

Close-up of corium in steam header

LLFCM distribution

Level 9

Lava-like Fuel Containing Mass

LLFCM

Corium stalactite

The Elephant’s Foot

Korneev at the Elephants Foot

Robot track

Robot track Room 308

Level 9

304 from 301

Robotic design constraints for high radiation environments • Minimal onboard electronics – Heavy shielding for any onboard electronics – No RC – Heavy tether • No internal combustion – Filters become nuclear waste – Heavy tether

Houdini

Early concept

Pioneer CAD

Pioneer

Pioneer control system

Mass-compounding problem • Component (e. g. stereo camera) requires heavy shielding, mechanical systems • Shielded camera requires massive pan-tilt motor to move it • Motor requires lots of current, heavier cable • Heavier load requires heavier frame, wheel motors, etc.

Instability problem • Increasing mass moves center of gravity up • Minimizing motor weight risks underpowering unstable vehicle

Pioneer at Chernobyl

Room 305

Mars. Map

CMap

Cmap Acquisition UI

Problems with Cmap • Built on Silicon Graphics machines – Unfamiliar to operators – Little likelihood of repair – No migration path • Awkward user interface

Lessons learned • Beware mass-creep • Simulation would have been useful • Keep it simple

The end