A Nuclear Decommissioning Manipulator with Novel Variable Impedance Actuator
Lead Research Organisation:
University of Sussex
Department Name: Sch of Engineering and Informatics
Abstract
With the ageing of nuclear facilities such as those in the Sellafield nuclear site in the UK, or the relatively recent disaster that occurred in the Fukushima Daiichi power plant in Japan, nuclear decommissioning is a major challenge that needs to be addressed in the 21st century. Innovative decommissioning technologies can assist in minimizing the risks and costs in tackling these complex challenges. More particularly, robotics solutions have already shown their potential, through several exploration missions, to monitor the conditions in Fukushima and mapping radiation sources in the Sellafield nuclear site. However, only a few dedicated robotic manipulators have been developed to contribute to the decommissioning tasks. Due to the radiation and the environmental uncertainties, standard robotic manipulators used in industrial applications are unsuitable for decommissioning scenarios.
In this project, we propose a robotic solution to aid in the clean-up of the primary containment vessel in Fukushima, and dismantling and decommissioning operations in Sellafield. We will develop a robotic manipulator based on a novel Variable Impedance Actuator (VIA) and employ artificial intelligence techniques for efficient exploration and decommissioning in nuclear environments. In contrast to existing VIAs which require sensors in the region of interaction and use feedback control strategies to modify the robot's impedance, we propose a novel Continuously Variable Transmissions(CVT) based Variable Impedance Actuator for an inherently collision-safe manipulator that can adapt to uncertain environments without additional interaction sensors. To fully capitalize on the manipulator's ability to change its impedance, new navigation and control strategies will be developed to perform remote handling tasks and a dedicated impedance controller will be designed to adapt the dynamic interaction behaviour of the robot according to the situation. The VIA, the manipulator and associated control strategies will finally be validated in realistic use-case scenarios representative of the Sellafield and Fukushima challenges.
This robotic solution will help to address the challenges associated with limited sensor availability due to radiation hazards and will allow us to safely conduct tasks in sensitive environments owing to the inherent collision safely offered by the VIA. This solution also offers resilience in events of communication and sensor failure or during mis-operation in teleoperation protocols, further de-risking robotic manipulation in the clean-up and decommissioning tasks in Fukushima and Sellafield respectively.
In this project, we propose a robotic solution to aid in the clean-up of the primary containment vessel in Fukushima, and dismantling and decommissioning operations in Sellafield. We will develop a robotic manipulator based on a novel Variable Impedance Actuator (VIA) and employ artificial intelligence techniques for efficient exploration and decommissioning in nuclear environments. In contrast to existing VIAs which require sensors in the region of interaction and use feedback control strategies to modify the robot's impedance, we propose a novel Continuously Variable Transmissions(CVT) based Variable Impedance Actuator for an inherently collision-safe manipulator that can adapt to uncertain environments without additional interaction sensors. To fully capitalize on the manipulator's ability to change its impedance, new navigation and control strategies will be developed to perform remote handling tasks and a dedicated impedance controller will be designed to adapt the dynamic interaction behaviour of the robot according to the situation. The VIA, the manipulator and associated control strategies will finally be validated in realistic use-case scenarios representative of the Sellafield and Fukushima challenges.
This robotic solution will help to address the challenges associated with limited sensor availability due to radiation hazards and will allow us to safely conduct tasks in sensitive environments owing to the inherent collision safely offered by the VIA. This solution also offers resilience in events of communication and sensor failure or during mis-operation in teleoperation protocols, further de-risking robotic manipulation in the clean-up and decommissioning tasks in Fukushima and Sellafield respectively.
Publications
Description | A mechanical CVT can be used as an Variable Impedance Actuator for the transmission of robotic manipulators employed in civil nuclear decommissioning tasks |
Exploitation Route | The mechanical Variable Impedance Actuator developed in this project can be used in other extreme environment applications |
Sectors | Aerospace Defence and Marine Agriculture Food and Drink Energy Healthcare Manufacturing including Industrial Biotechology Transport |
Description | Policy engagement with the Japanese Ministry of Education, Culture, Sports, Science and Technology (MEXT) |
Geographic Reach | Multiple continents/international |
Policy Influence Type | Influenced training of practitioners or researchers |
Description | Collaboration University of Sussex - University of Tokyo |
Organisation | University of Tokyo |
Country | Japan |
Sector | Academic/University |
PI Contribution | This collaboration was initiated by the University of Sussex which holds the know-how on a mechanical transmission which can operate as a variable impedance actuator, in the context of robotic manipulators. The mechanical transmission is a Continuously Variable Transmission which can automatically change the transmission ration as a function of the output torque. Coupled with an epicycle gear set this transmission, when incorporated in the joint of a robotic manipulator, can stop the motion of a link when the torque applied on it exceeds pre-determined values; for example when the link hits an object. This feature makes the device ideal for nuclear environments where the intense radiation renders most electronic sensors in-operable. The Sussex team has done all phases of the mechanical design of the transmission and has prepared the documentation for manufacturing the CVT for both the UK application (Sellafield) and Japan application (Fukushima). One of our significant contributions also lies in the development of an analytical model for the CVT (Continuously Variable Transmission), utilized in a multi-degree of freedom manipulation task simulation. This simulation serves a crucial role in predicting the behaviour of both the CVT and the robot in scenarios involving collisions with obstacles of varying sizes, positions, and stiffness levels. Notably, this model not only facilitates our partners' training of their machine learning-based navigation algorithm using a simulated manipulator with CVT-VIA joint but also provides a platform for exploring alternative control approaches and motion planning strategies for CVT-based compliant manipulators. |
Collaborator Contribution | The Japanese team has been instrumental in several key aspects of our project: Drawing from images and videos provided by TEPCO, they meticulously modeled the environment within the Fukushima-Daichi Primary Containment Vessel. This included gathering essential data on access points, potential obstacles, and the dimensions of nuclear debris, crucial for designing the manipulator. Their insights directly influenced decisions regarding Degrees of Freedom (DoF), link length, and torque requirements at manipulator joints. Using machine learning techniques, they developed a semi-autonomous navigation algorithm for the robotic manipulator. This innovative approach allows users to control the robot's movement by clicking on an image captured by a camera on the manipulator's tip. To train the algorithm effectively, they created simulations with diverse scenarios using PyBullet, ensuring robust performance in real-world applications. In addition, the team designed a compliant gripper tailored to grasp pebble-like debris objects within the containment vessel. This gripper design ensures efficient manipulation and collection during operations, aligning with project objectives. Their efforts culminated in a successful proof of concept demonstration using a 3 DoF robotic manipulator at the Naraha Center for Remote Control Technology Development (NARREC) of the Japan Atomic Energy Agency (JAEA). This demonstration validated the practical application of the navigation algorithm, showcasing its effectiveness in navigating the manipulator's end effector. Overall, the Japanese team's multidisciplinary contributions have significantly advanced our project's goals, enhancing the manipulator's design and functionality while demonstrating the feasibility of employing cutting-edge technologies in nuclear decommissioning efforts. During the final part of the project, we will actively collaborate with our Japanese partners to implement the control algorithm on the final manipulators equipped with the CVT-VIA. |
Impact | Workshop on Robotics for Nuclear Environments, The 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), Kyoto, Japan, October 23-27, 2022 |
Start Year | 2021 |
Description | UK- Japan Meeting and Workshop-23rd Jan 2023 |
Form Of Engagement Activity | Participation in an activity, workshop or similar |
Part Of Official Scheme? | No |
Geographic Reach | International |
Primary Audience | Professional Practitioners |
Results and Impact | This was a workshop focused on the collaboration between UK and Japan in nuclear civil research. Dr Parween of our group presented the talk entitled: "Design and Development of a Collision-Safe Robotics Manipulator for Nuclear Decommissioning" co-authors were K H Widanage, H Godaba, N Herzig, Y Li and R Glovnea |
Year(s) Of Engagement Activity | 2023 |
Description | Workshop within IROS 2022 conference |
Form Of Engagement Activity | Participation in an activity, workshop or similar |
Part Of Official Scheme? | No |
Geographic Reach | International |
Primary Audience | Professional Practitioners |
Results and Impact | Prof Glovnea was one of the two main organisers of the workshop "Robotics for nuclear environments exploration and decommissioning: challenges and emerging techniques" within the IROS 2022 Conference, 23-27 October 2022, Kyoto, Japan. He also presented the invited talk "Variable Impedance Actuator based on a Toroidal-type CVT". Dr Parween of the group also presented the talk "Collision-Safe Manipulator for Nuclear Decommissioning Activities". Co-authors were K Widanage, H Godaba, N Herzig, Y Li and R Glovnea |
Year(s) Of Engagement Activity | 2022 |
URL | http://www.robot.t.u-tokyo.ac.jp/Robotics_for_nuclear_environments/index.html |