A remotely operated cleaning vehicle for use in a hot-cell at the Korea Atomic Energy Research Institute (KAERI) was developed. This vehicle was designed to completely eliminate human exposure to highly radioactive contaminants. The electrically driven vehicle that can be operated by remote control cleans the contaminated in-cell platform and collects loose dry spent nuclear fuel debris and other radioactive waste. It has mainly three subsystems - a tracked mobile platform for locomotion, a rotary brush tool for cleaning and a vacuum unit for collection. The human operator from the out-of-cell performs a series of cleaning tasks remotely by manipulating the vehicle located in-cell via a handcontroller with the aid of vision feedback information. This paper deals with the mechanical and environmental design considerations, control system, and capabilities of the remotely operated cleaning vehicle.
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