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The recent developments in robotic systems have attracted significant interest in both new and legacy builds in nuclear applications, and as a result, the UK has boosted research on robotic solutions for safe and efficient nuclear service and decommissioning solutions. Robotic systems and their control are being adopted for tasks with low to mid-safety requirements, such as maintenance and post-accidental activities. Remotely controlled and autonomous robots are key to transforming fusion power into a commercially viable reality, as well as significantly improving the safety and performance of fission new builds. The control of robots in complex hazardous nuclear environments needs to be carefully developed to overcome its many challenges. This chapter will introduce control issues for nuclear systems. Focus will be on low and mid-safety control systems involving robots in the nuclear sector, as regulators will more likely allow the transfer of new research at these safety levels. Ongoing development of advanced robotic systems and instrumentation infrastructure have been focused around these safety levels. An overview of the challenges for robotic systems supporting nuclear power systems will be given. In addition, the state of the art of nuclear robotic systems will be reviewed, including the sensors, actuators and control designs required for undertaking delicate operations in the nuclear industry. Examples of key technologies currently in development will be presented: firstly, the world-leading teleoperated robot for maintaining and decommissioning the Joint European Torus (JET) reactor. Secondly, the robotic and control techniques developed for the next generation of remotely controlled robots for nuclear decommissioning. Then, novel control infrastructures enabling safe and robust robotic implementations will be introduced. This includes a flexible middleware aimed at reconfiguration of robotic devices and a wireless control communication infrastructure for high design flexibility and safety in nuclear control systems. Finally, an overview addresses the open challenges for future applications of advanced control and robotics in the fission and fusion industry.

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On Robotics and Control in the Nuclear Servicing Sector

  • 章节

  • 发表日期：

    2025年

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  • Erwin Jose Lopez Pulgarin,
  • Kaiqiang Zhang,
  • Robert Skilton,
  • Guido Herrmann

摘要

The recent developments in robotic systems have attracted significant interest in both new and legacy builds in nuclear applications, and as a result, the UK has boosted research on robotic solutions for safe and efficient nuclear service and decommissioning solutions. Robotic systems and their control are being adopted for tasks with low to mid-safety requirements, such as maintenance and post-accidental activities. Remotely controlled and autonomous robots are key to transforming fusion power into a commercially viable reality, as well as significantly improving the safety and performance of fission new builds. The control of robots in complex hazardous nuclear environments needs to be carefully developed to overcome its many challenges. This chapter will introduce control issues for nuclear systems. Focus will be on low and mid-safety control systems involving robots in the nuclear sector, as regulators will more likely allow the transfer of new research at these safety levels. Ongoing development of advanced robotic systems and instrumentation infrastructure have been focused around these safety levels. An overview of the challenges for robotic systems supporting nuclear power systems will be given. In addition, the state of the art of nuclear robotic systems will be reviewed, including the sensors, actuators and control designs required for undertaking delicate operations in the nuclear industry. Examples of key technologies currently in development will be presented: firstly, the world-leading teleoperated robot for maintaining and decommissioning the Joint European Torus (JET) reactor. Secondly, the robotic and control techniques developed for the next generation of remotely controlled robots for nuclear decommissioning. Then, novel control infrastructures enabling safe and robust robotic implementations will be introduced. This includes a flexible middleware aimed at reconfiguration of robotic devices and a wireless control communication infrastructure for high design flexibility and safety in nuclear control systems. Finally, an overview addresses the open challenges for future applications of advanced control and robotics in the fission and fusion industry.