TY - GEN
T1 - Robotic Replacement System for Thermocouple Components in the Nuclear Power Plant
AU - Huang, Haihua
AU - Feng, Yujie
AU - Tan, Yi
AU - Ma, Rui
AU - Lai, Quanbin
AU - Sun, Binxuan
AU - Duan, Xingguang
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - Aiming at leakage, crystallization and deformation of RIC (In-Core Instrumentation) system, the thermocouple is mainly used to measure the outlet temperature of the reactor core coolant in the RIC system, which plays an important role in the condition monitoring of the internal equipment in the nuclear reactor core. To prevent serious nuclear accidents and reduce the radiation to maintenance personnel, a thermocouple component robotic replacement system is built in the nuclear reactor. This paper analyzes the increased demand for thermocouple components replacement. According to the demand, the context plans the specific workflow of the robot, designs three dexterous end effectors, adopts an incremental master-slave mapping algorithm and completes the overall design of the robotic system. Finally, an experimental setup is built to test the operation process of the robotic system, which proved the system can complete the assembly replacement requirements. The system lays the foundation for the development and engineering application on next step.
AB - Aiming at leakage, crystallization and deformation of RIC (In-Core Instrumentation) system, the thermocouple is mainly used to measure the outlet temperature of the reactor core coolant in the RIC system, which plays an important role in the condition monitoring of the internal equipment in the nuclear reactor core. To prevent serious nuclear accidents and reduce the radiation to maintenance personnel, a thermocouple component robotic replacement system is built in the nuclear reactor. This paper analyzes the increased demand for thermocouple components replacement. According to the demand, the context plans the specific workflow of the robot, designs three dexterous end effectors, adopts an incremental master-slave mapping algorithm and completes the overall design of the robotic system. Finally, an experimental setup is built to test the operation process of the robotic system, which proved the system can complete the assembly replacement requirements. The system lays the foundation for the development and engineering application on next step.
KW - Nuclear robot
KW - RIC system
KW - Thermocouple replacement
UR - http://www.scopus.com/inward/record.url?scp=85135844989&partnerID=8YFLogxK
U2 - 10.1007/978-3-031-13844-7_54
DO - 10.1007/978-3-031-13844-7_54
M3 - Conference contribution
AN - SCOPUS:85135844989
SN - 9783031138430
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 575
EP - 586
BT - Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
A2 - Liu, Honghai
A2 - Ren, Weihong
A2 - Yin, Zhouping
A2 - Liu, Lianqing
A2 - Jiang, Li
A2 - Gu, Guoying
A2 - Wu, Xinyu
PB - Springer Science and Business Media Deutschland GmbH
T2 - 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Y2 - 1 August 2022 through 3 August 2022
ER -