刘呈则;严智;邓景珊;张宝军;郭磊;

• 1:国核电站运行服务技术公司

摘要(Abstract)：

随着核电产业的快速发展和核安全要求的日益提高,日益显现出对核电站应急响应机器人研发的迫切需求。本文首先结合现场环境条件对核电站应急机器人进行了设计需求和主要挑战的分析,总结了切尔诺贝利、日本JCO和福岛历次核事故之后国际上应急机器人技术的研发进展,并就在核电站特定应用需求下对普通商用移动机器人的改进性研究做了总结。最后就核电站应急机器人涉及的电气部件耐辐射技术、机器人系统耐辐射技术和系统可靠性技术等关键技术进行了具体分析。

关键词(KeyWords)： 核电站应急;移动机器人;耐辐射

Abstract:

Keywords:

基金项目(Foundation):

作者(Authors): 刘呈则;严智;邓景珊;张宝军;郭磊;

参考文献(References)：

• [1]Robert Bogue.Robots in the Nuclear Industry:aReview of Technologies[J].Industrial Robot:AnInternational Journal,2011(38):113-118.
• [2]Masanori Sugisaka.Working Robots for Nulcear PowerPlant Desasters[C].5th IEEE International Conferenceon Digital Ecosystems and Technologies,2011,Daejeon,Korea:358-361.
• [3]Mark Rowland,Maynard Holliday,Jury Karpachov.Proposed Radiation Hardened Mobile Vehicle forChernobyl Dismantlement and Nuclear AccidentResponse[C].American Nuclear Society meeting onrobotics and remote systems,1995,Monterey,America:5-10.
• [4]Sharp R E,Pater L.Development of robots for use inradioactive environments[J].Nuclear Energy.1999(38):321-324.
• [5]Bejczy A K,Kim W S,Schenker P S.The Role ofComputer Graphics in Teleoperation[C].Robotics forChallenging environments,1994,New Mexico,America:1-9.
• [6]Jerome Perret.Service Robots for Nuclear Safety:NewDevelopments by Cybernetix[C].Proceeding of the1998IEEE International Conference on Robotics&Automation,1998,Leuven,Belgium:2106-2109.
• [7]Jeffrey Abouaf.Trial by Fire:Teleoperated RobotTargets Chernobyl[C].IEEE Computer Graphics andApplications.1998:10-14.
• [8]John Charles.Rosie:a Worker for the Nuclear Age[J].IEEE Expert.1996(11):82-83.
• [9]Houssay L P.Robotics and Radiation Hardening in theNuclear Industry[T].Univ.of Florida,2000.
• [10]Maimone M,Matties L,Osborn J.A Photo-Realistic3-D Mapping System for Extreme NuclearEnvironments:Chernobyl[C].Proceedings of the 1998IEEE/RSJ Intl.Conference on Intelligent Robots andSystems.1998,Victoria,Canada:1521-1527.
• [11]Kiyoshi Oka,Kiyoshi Shibanuma.Development of aradiation-proof robot[J].Advanced Robotics,2002(16):493-496.
• [12]Takahisa Mano,Shoichi Hamada.Development of arobot system for nuclear emergency preparedness[J].Advanced Robotics,2002(16):477-479.
• [13]Yasuhiro Yuguchi,Yoshifumi Satoh.Development of arobotic system for nuclear facility emergencypreparedness-observing and work-assisting robotsystem[J].Advanced Robotics,2002(16):481-484.
• [14]Yoshifumi Isozaki,Kimikazu Nakai.Development of awork robot with a manipulator and a transport robotfor nuclear facility emergency preparedness[J].Advanced Robotics,2002(16):489-492.
• [15]Masato Otaki.Environmental Monitoring robots fornuclear emergencies[J].Advanced Robotics,2002(16):501-504.
• [16]Yuuji Hosoda,Hiroshi Yamamoto,Makoto Hattori.SWAN:a Robot for Nuclear Disaster preventionsupport[J].Advanced Robotics,2002(16):485-488.
• [17]Magnuson Stew.Search and Rescue Robots Needed,But Market Has Yet to Develop[J].National Defense,2011(96):24-26.
• [18]Eric Rohmer,Kazunori Ohno,Tomoaki Yoshida.Integration of a Sub-crawlersAutonomous Control inQuince Highly Mobile Rescue Robot[C].2010IEEE/SICE International Symposium on System Integration,Sendai,Japan:78-83.
• [19]Eric Rohmer,Tomoaki Yoshida,Kazunori Ohno.Quince:A Collaborative Mobile Robotic Platform forRescue Robots Research and Development[C].Proceeding of International Conference on AdvancedMechatronics.2010,Osaka,Japan:225-230.
• [20]Michael J.Dalmaso,Robert F.Fogle,R.AnthonyHicks.Design,Development and Field Deployment ofA Teleoperated Sampling System[R].Savannah RiverSite Document No.R-TRT-A-00003,2007.
• [21]Richard V.Welc.A Mobile Robot for Reconnaissance ofHAZMAT Incident Sites[C].Robotics for Challengingenvironments,1994,New Mexico,America:269-277.
• [22]Sammy L.Jones,Timothy Cable,James S.Tulenko.Environmental Hardening of a Mobile-ManipulatorSystem for Nuclear Environments[C].Robotics forChallenging environments,1994,New Mexico,America:296-303.
• [23]F.Brack Hazen.Robotics for Waste StorageInspection:a Users Perspective.Proceeding of 42ndConference on Robotics and Remote Systems.1994,New Orleans,America:147-154.
• [24]E.Dudar,G.Teese,D.Wagner.SIMON:a MobileRobot for Floor Contamination Surveys[R].SRS:WSRC-MS-91-189.Westinghouse Savannah RiverCompany,1991.
• [25]Jan De Geeter,Marc Decreton.Eric Colon.TheChallenges of telerobotics in a Nuclear Environment[J].Robotics and Autonmous Systems,1999(28):5-17.
• [26]Richard Sharp,Marc Decreton.Radiation Tolerance ofComponents and Materials in Nuclear RobotApplications[J].Reliability Engineering and SystemSafety.1996(53):291-299.
• [27]Hyo Jik Lee,Kwang Ho Yoon,Kwang Muk Lim.Irradiation Test for ACP Equipment Components[C].International Conference on Control,Automation andSystems.2007,Seoul,Korea:412-415.
• [28]M.Decreton.Position Sensing in Nuclear RemoteOperation[J].Measurement.1995(15):43-51.
• [29]D.W.Schoenfeld,J.L.Kurtz,P.Carlson.An ImprovedIntegrated Rad-hard Wireless Communication/ControlSystem with Dual Use Applications[C].1st JointEmergency Preparedness and Response/Robotics andRemote Systems Topical Meeting.2006,Utah,USA:768-773.
• [30]Coenen S,Decreton M.Feasibility of Optical Sensingfor Robotics in Highly Radioactive Environments[C].IEEE Transactions on Nuclear Science.1993,40:851-856.
• [31]Roche F M,Salager L.CMOS Inverter Design-Hardenedto the Total Dose Effect[C].IEEE Transactions onNuclear Science.1996,43:3097-3102.
• [32]Youk G U,Lee N H,Kim B S.Technology Developmentfor the Radiation Hardening of Robot[C].Proceedings ofthe 1999IEEE/RSJ International Conference on IntelligentRobots and Systems.1999:1715-1720.
• [33]Lauridsen K,Cristensen P,Kongso H E.Assessmentof the reliability of robotic systems for use in radiationenvironments[J].Reliability Engineering and SystemSafety,1996(53):265-276.
• [34]Boden A,Kruger W,Muller T.Investigation andImprovement of the Radiation Tolerance of aTeleoperated Manipulator-Equipped Vehicle to be Usedin Radioactive Environments[C].4th EruopeanConference on Radiation and Its Effects on Componentsand Systems,1997,Cannes,France:319-322.
• [35]Kim J K,Kim B K.Implementation of Reliable RobotControl System for Nuclear Power Plant Manipulation[C].Proceedings of the 32nd International Symposiumon Robotics.2001,Seoul,Korea:415-420.
• [36]Bruemmer D J,Marble J L,Dudenhoeffer D D.Mixed-Initiative Control for Remote Characterization ofHazardous Environments[C].Proceedings of the 36thHawaii International Conference on System Sciences,2002,Hawaii,USA:502-510.
• [37]Paul Milgram,Shi Yin,Julius J.Grodski.An AugmentedReality Based Teleoperation Interface for UnstructuredEnvironments[C].Proceedings of American NuclearSociety 7th Topical Meeting on Robotics and RemoteSystems.1997,Georgia,USA:966-973.
• [38]Laurent Chodorge,Arnauld Leservot,PhilippeDesbats.CHAVIR:A Virtual Reality SimulationEnvironment for Hazardous Nuclear Working Sites[C].1st Joint Emergency Preparedness and Response/Robotic and Remote Systems Topical Meeting 2006,Utah,USA:516-523.