Robotized system for retrieving fallen objects within the reactor vessel of a nuclear power plant (PWR)
Author
Iborra García, Andrés José; Álvarez Torres, María Bárbara; Navarro Lorente, Pedro Javier; Fernández Meroño, José María; Pastor Franco, Juan ÁngelResearch Group
División de Sistemas e Ingeniería Electrónica (DSIE)Knowledge Area
Tecnología ElectrónicaSponsors
This work has been partially supported by the Spanish Government Programmes for Research and Development (ATYCA I63/96, ATYCA I 1 0/97, ATYCA I07/98 and CDTI,EUREm-MINE TRON EU 1565)Publication date
2000-12Publisher
Institute Electrical and Electronics Engineers.Bibliographic Citation
IBORRA GARCÍA, Andrés José et al. Robotized system for retrieving fallen objects within the reactor vessel of a nuclear power plant (PWR). En: IEEE International Symposium of Industrial Electronics (ISIE´2000: Puebla, México). Industrial Electronics, 2000. ISIE 2000. Proceedings of the 2000 IEEE International Symposium on. Puebla, México: IEEE. 2v, 2000. Pp. 529-534. ISBN 0-7803-6606-9Keywords
TeleoperadoresSistemas robotizados
Planta de energía nuclear
Sistema TRON
Abstract
This paper presents an original teleoperated and robotized system (TRON) designed for retrieving foreign objects within lower internals of the reactor vessels at nuclear
power plants (PWR). For performing these operations, the system does not require that the lower internals have to he
retrieved or the fuel assemblies unloaded. The remote handler device is an articulated pole for accessing to the lower
internals from the lower core plate. This cylindrical pole is capable to reach the 90% of the horizontal surface below the
core barrel. In order to carry out such mission, the TRON system must be able to underwater operate inside a very
complex environment and exposed to moderate levels of radiation, that could be punctually high or very high. The design and implementation of the teleoperation system is
based on generic software architecture. This original architectural model has been a very useful scheme for organising TRON control tasks, since it comprises the main
functional ...
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