Title :
Autonomous mobile patrol system for nuclear power plants: field test report of vehicle navigation and sensor positioning
Author :
Satoh, Katsuhiko ; Hozumi, Hisahi ; Okada, Satoshi ; Itoh, Takao ; Kanemoto, Shigeru ; Okano, Hideharu
Author_Institution :
Toshiba Corp., Yokohama, Japan
Abstract :
The integrity in components of an operating nuclear power plant (NPP) is usually monitored on a daily basis by operator patrols. Currently, there is a pressing need to replace such human patrol activities by systems of automated monitoring in order to reduce radiation exposure and the workload imposed on operators. From this perspective, and under the sponsorship of the Ministry of International Trade and Industry (MITI), we embarked upon a R&D project in 1991 with the objective of developing TOSHIBA Remote Inspection System (TOSRIS) for NPPs. We built a prototype system and examined it in a mockup of a typical NPP environments. This project was completed in 1996. This paper describes the concept of TOSRIS, how the inspection position is calculated, how plans are passed using a 3D-CAD database, and mockup tests
Keywords :
CAD; image sensors; laser ranging; local area networks; maintenance engineering; mobile robots; monitoring; nuclear engineering computing; nuclear power stations; path planning; power engineering computing; power system reliability; robot kinematics; tactile sensors; telerobotics; 3D-CAD database; Ministry of International Trade and Industry; TOSHIBA Remote Inspection System; TOSRIS; automated monitoring; autonomous mobile patrol system; mockup tests; nuclear power plants; radiation exposure; sensor positioning; vehicle navigation; Computerized monitoring; Databases; Humans; Inspection; International trade; Power generation; Pressing; Prototypes; Radiation monitoring; Remote monitoring;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.571045
