Robotics technology assessment for decontamination and dismantlement tasks

摘要

In order to conduct those tasks, characterization of facilities and their surveillance are carried also by the D&D group, as well as packaging and removal of items after the dismantlement process. These tasks are characterized by their diversity and demanding nature. Because of the large size of facilities and equipment, dimension of the robotic used in this application will be comparable in size to mobile cranes. This constraint alone eliminates most of the existing robots except some hydraulically driven ones. After reviewing D&D task requirements, we look as the stat of the art in current robotics technology. Pointing out certain commercial robots and remote manual controllers for possible use in these applications, we assess the current status of component technologies in robotics. This document discusses the strength and weaknesses in each area. Under the guidance of these assessments, we recommend specific robotic systems for D&D operations, and then conclude by noting the areas that need further development.