Abstract
A reactor robot for object salvaging underwater was designed to reduce the labor intensity of operators under the nuclear radiation environment. The control system of the robot, composed of control system hardware and control system software, was designed to be compact and radiation resistant. The control algorithm of the robot based on current, velocity, and position feedback of each motor makes the robot achieve the goal of salvaging exactly and rapidly. In order to verify the stability of the control system, the salvaging foreign matter experiment was tested in nuclear base. The result shows that the control system of the robot is stable enough.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ruimin, M., Jian, Z., Xueliang, Y.: China’s approach to nuclear safety—from the perspective of policy and institutional system. Energy Policy 76(1), 161–172 (2015)
Sophie, G., Staffan, J.S., Carl, H., et al.: New perspectives on nuclear power-generation IV nuclear energy systems to strengthen nuclear non-proliferation and support nuclear disarmament. Energy Policy 73(10), 815–819 (2014)
Masataka, M., Randeep, S., Thang, N., et al.: Heat pipe based passive emergency core cooling system for safe shutdown of nuclear power reactor. Appl. Therm. Eng. 73(1), 697–704 (2014)
Liu, Q., Wang, G., Dong, Y., et al.: A novel nuclear station inspection robot. In: 2014 4th IEEE International Conference on Information Science and Technology, 26–28 April 2014, Shenzhen, China (2004)
Robert, B.: Robots in the nuclear industry: a review of technologies and applications. Ind. Robot 38(2), 113–118 (2011)
Richard, B.: How do you decommission a nuclear installation? Call in the robots. Ind. Robot 37(2), 134–136 (2010)
Keiji, N., Seiga, K., Yoshito, O., et al.: Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots. J. Field Robot. 30(1), 44–63 (2013)
Park, J.-Y., Cho, B.-H., Lee, J.-K.: Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using time delay control. Nucl. Eng. Des. 239(11), 2543–2550 (2009)
Dexter, D., Brandon, S., Robin, M.: Run the robot backward. In: 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics, 21–26 Oct 2013, Linkoping, Sweden (2013)
Yamauchi, B.M.: PackBot: a versatile platform for military robotics. Proc. SPIE (Unmanned Ground Vehicle Technology VI) 5422, 228–237 (2004)
Shinji, K., Mineo, F., Takashi, O.: Emergency response by robots to Fukushima-Daiichi accident: summary and lessons learned. Ind. Robot 39(5), 428–435 (2012)
Gunn, J.E., Carr, M., Smee Stephen, A., et al.: Detectors and cryostat design for the SuMIRe Prime Focus Spectrograph (PFS). In: The International Society for Optics and Photonics, 9 Oct 2012, Amsterdam, Netherlands (2012)
Keiji, N., Seiga, K., Yoshito, O., et al.: Redesign of rescue mobile robot Quince—toward emergency response to the nuclear accident at Fukushima Daiichi Nuclear Power Station on March 2011. In: IEEE International Symposium on Safety, Security, and Rescue Robotics, Kyoto, Japan (2011)
Tomoaki, Y., Keiji, N., Satoshi, T., et al.: Improvements to the rescue robot quince toward future indoor surveillance missions in the Fukushima Daiichi nuclear power plant. In: Springer Tracts in Advanced Robotics, Matsushima, Japan (2014)
Keiji, N., Seiga, K., Yoshito, O., et al.: Gamma-ray irradiation test of electric components of rescue mobile robot Quince. In: IEEE International Symposium on Safety, Security, and Rescue Robotics, 1–5 Nov 2011, Kyoto, Japan (2011)
Eric, R., Kazunori, O., Tomoaki, Y., et al.: Integration of a sub-crawlers’ autonomous control in Quince highly mobile rescue robot. In: IEEE/SICE International Symposium on System Integration, 21–22 Dec 2010, Sendai, Japan (2010)
Gang, W., Xi, C., Xiufen, Y.: Research on anti-rollover stability for crablike robot. In: 2013 IEEE International Conference on Mechatronics and Automation, 4–7 Aug 2013, Takamastu, Japan (2013)
Karydis, K., Poulakakis, I., Tanner, H.G.: A switching kinematic model for an octapedal robot. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 7–12 Oct 2012, Vilamoura, Portugal (2012)
Andrews, H.L., Bakkali Taheri, F., Barros, J., et al.: Longitudinal profile monitors using coherent Smith-Purcell radiation. Nucl. Instrum. Methods Phys. Res. A 740, 212–215 (2014)
Oka, K., Shibanuma, K.: Development of a radiation-proof robot. Adv. Robot. 16(6), 493–496 (2002)
Acknowledgements
This work was supported by Tianjin Enterprise Science and Technology Commissioner Project under grant 18JCTPJC66000, University Foundation of Tianjin University of Technology and Education under grant KJ1702 and Scientific Research Foundation of Tianjin University of Technology and Education under grant KYQD1807.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Huang, X., Sun, L., Zhang, X., Li, M., Zhang, M. (2020). Control System Design of Reactor Robot for Object Salvaging Underwater. In: Liang, Q., Liu, X., Na, Z., Wang, W., Mu, J., Zhang, B. (eds) Communications, Signal Processing, and Systems. CSPS 2018. Lecture Notes in Electrical Engineering, vol 517. Springer, Singapore. https://doi.org/10.1007/978-981-13-6508-9_75
Download citation
DOI: https://doi.org/10.1007/978-981-13-6508-9_75
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-13-6507-2
Online ISBN: 978-981-13-6508-9
eBook Packages: EngineeringEngineering (R0)