dexterous remote handling for the nuclear industry · oxford technologies overview 13/06/2016 25...
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Certificate Number 4728ISO 9001
Dexterous Remote Handling for the Nuclear Industry
Presenter: S. Delavalle
Date: 30/06/2016
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Agenda
• Introduction to Oxford Technologies
• Remote handling philosophy
• Legacy from the nuclear fusion experiments
• Potential for decommissioning and other industries
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Introduction to Oxford Technologies Ltd
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Oxford Technologies Ltd
• Remote Handling Solutions
• Engineering consultancy
• Design and build
• Assembly and test hall
• Man in the loop robotics, not robots.
• Created in 2000 by JET remote handling engineers
• Owned by Kurion Inc. since December 2015
• 61 employees, including 56 engineers and technicians
• £5.5 million turnover
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JET (Joint European Torus)
Designed and delivered RH devices
Developed RH Code of Practice
World’s first fully remote handling campaign inside a Tokamak in 1997.
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Remote Handling Philosophy
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Remote Handling Philosophy
• What is remote handling?
– Handling items and tasks from a remote distance
– “Nuclear” connotation
Long Reach Tools
Remote Controlled
Through the wall manipulatorsRemote equipment
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Remote Handling Philosophy
• Unknown vs Hazardous
Hazardous
Unknown
Known
Safe
HANDS ON
ROBOTS AND AUTOMATED MACHINERY
REMOTE HANDLING
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Remote Handling Philosophy
• What is important for Oxford Technologies
– Task identification
– Remote viewing
– Recovery
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Legacy from the Nuclear Fusion Experiments
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Brief history of Mascot
Through the wall manipulators are fixed to one location.
MASCOT: Positionable servo manipulator
Project started around 1958 with ENEA and CERN collaboration
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1945 1958
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Brief history of Mascot
Use of MASCOT IV at JET
Full remote handling operation started 1997
Positioned inside the tokamak by a transport boom
More than 10 000 h active operation
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DEXTER Manipulator
Updated design of MASCOT manipulator
High dexterity
Highly programmable
VR integration
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DEXTER Manipulator
High dexterity allows to perform a multitude of task without much infrastructure
10g sensitivity
10 kg payload
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DEXTER Manipulator
Highly programmable
Weight compensation
• The weight of the arm is “electronically” removed
• Tool weight can be removed
Force scaling:
• The force feedback from the slave manipulator can be decreased in order to lift comfortably more mass or for more force demanding task
• The force feedback from the slave manipulator can be increased in order to amplify the “feel” and perform tasks with more sensitivity
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DEXTER Manipulator
Highly programmable
Active constraints
• Use of kinematic to assist tasks such as:
• Using an screw driver
• Using a spanner or other orbital tools
• Cutting / tracing in a straight line
Virtual walls
• Virtual environment can be created to protect equipment
Guiding trajectories
• “Attraction path” to guide the movement, e.g. during deployment or navigating through confined spaces
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DEXTER Manipulator
Highly programmable
Dissimilar kinematics
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DEXTER Manipulator
VR Integration
“Real” master driving virtual slave
Task study
Task optimisation
Operator training
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Potential for decommissioning and other industries
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High Energy Physics
• Support to ITER
Numerous remote handling and diagnostics contracts
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High Energy Physics
• Support to ITER
Numerous remote handling and diagnostics contracts
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LHC (CERN) HIPER
MYRRAH (SCK)
High Energy Physics
• Other international experiments
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Nuclear decommissioning
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• Fukushima (Japan)
• La Hague (France)
• Dounreay Shaft (UK)
• Sellafield, FGMSP (UK)
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Nuclear decommissioning
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• Dounreay (Waste handling, Shaft, Silo)
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Nuclear decommissioning• Dounreay (Handling arm trials)
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Nuclear decommissioning
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• Sellafield (Pond waste handling)
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Remote Dexterous Handling
• Reducing risk and exposure
• Increasing task efficiency
• Examples:
– Hot Cell and Glove boxes with minimum penetration
– Working above ponds with no exposure and better dexterity
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Questions Please….
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