foratom webinar: robotics applications within nuclear
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FORATOM webinar:
Robotics Applications within
Nuclear Industry & Latest
Developments of RIMA Programme
18 November 2020
Webinar agenda
1. Introduction
2. RIMA Programme’s latest developments
3. PRIMUS Platform for Robotic Inspection andMaintenance in Unstructured Settings France -nuclear project funded in the 1st open call
4. MIRoS Mobile and Innovative Robot with Sensors -nuclear project funded in the 1st open call
5. UCODE Underwater Cobot Decommissioning -nuclear project funded in the 1st open call
6. Westinghouse - nuclear industry's perspective
7. Q&A session
Christophe Leroux
CEA
Ryan Lober
Fuzzy Logic Robotics –[PRIMUS]
Asénath Etile
INNOWTECH –[MIRoS]
Ben Chaudhri
Createc [UCODE]
Martin Sandberg
Westinghouse
Conan Foster
Westinghouse
FORATOM webinar: Robotics Applications within the
Nuclear Industry & Latest Developments of the RIMA Programme
SPEAKERS
Brief Introduction
Introduction
Nathan Paterson - FORATOM
www.foratom.org | foratom@foratom.org |
5
There is great interest in the application of robotics solutions within the nuclear industry
Robotics Challenge Winning Design
Helps Speed up Spent Fuel
Verification (link)
Workshop on the Application of
Remote and Robotic Systems (link)
International European
Ageing Management Topical Peer
Review highlights - Robotic visual
inspection for detection of local
corrosion in long lengths of piping (link)
Funded R&D Projects such as Robotic
Manipulation for Nuclear Sort and
Segregation (RoMaNS) and RIMA
www.foratom.org | foratom@foratom.org |
6
RIMA Nuclear Challenges
RIMA Challenges (Link) and knowledge base (Link)
www.foratom.org | foratom@foratom.org |
7
RIMA programme
Link
Brief Introduction
Christophe Leroux
CEA
RIMA programme
9FORATOM Infoday, 18th November 2020, Christophe Leroux, CEA LIST
10
Agenda
RIMA
Open Call 2
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• Reinforcing European leadership in I&M robotics by
• connecting technology to industrial/sectorial needs
• fostering cross border cooperation
• Set mechanisms speeding uptake of robotics
• Relies on Digital Innovation Hubs concept (DIHs).
• DIHs are “one stop shops to get support in understanding digital technologies and support on how to finance/nurture the necessary investments”.
Vision
12
RIMA – Robotics for Inspection and Maintenance of Infrastructures
https://rimanetwork.eu/about-rima
• Support for uptake of robotics by industry
• Marketplace
• Sharing practices
Network of 13 Digital Innovation Hubs
• Tech transfer, proof of concept, access to testing facilities
• Advising, coaching, training, matchmaking,
• Path to market, market deployment
• Communication, dissemination
• Links with stakeholders, actors of value chain: asset owners or operators, techno and service providers, investor, certification bodies
Offer of services
EU-funded project, 2019-2022, lead CEA
15
Open calls
• 8M€ distributed to SMEs
•2 open calls
Experiments
• Innovative
• Impacting
16
• Duration: RIE (up to 14 months
• Funding: up to 150 k€
RIE (Robotics Innovation Experiment)
• 2 SMEs
• Techno providers
• Service providers
• Integrators
• Robotics
Mandatory
17
•starts on 15th of December 2020 00:00 (CET)
•deadline: 17th of March 2020, 16:00 (CET)
Submission of applications
18
1 2
Selected ExperimentsTTE
PRIMUSWISE-
INSPECTAPIBOT
TANGO ATEXDRONE RRRc
19
1 2
Selected ExperimentsTD
UCODEPondsurvey.
comRAHIP
MIRoS INOWATT FIDR
LeaksBusterRCU Preventa
Bot
AeroDefectScan
DRONE4PV
APRORAP MAP4CAT
DATASTART KFT.
21
Finalists of 1st RIMA Open Call – TTEs & TDs
22
• FORATOM: Nathan Paterson nathan.paterson@foratom.org
• CEA: Christophe Leroux christophe.leroux@cea.fr
• CEA: Farzam Ranjabanfarzam.ranjbaran@cea.fr
Contacts
• https://rimanetwork.eu/
Web portal
Brief Introduction
Ryan Lober
Fuzzy Logic Robotics – [PRIMUS]
PRIMUSPlatform for Robotic Inspection and
Maintenance in Unstructured Settings
Context
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Non-Destructive Testing (NDT)
A crucial aspect of existing infrastructure security and
productivity.
Ageing Infrastructures & Strict Regulations
Europe accounted for 30% of the global NDT services
market in 2018 (1 B USD).
→ In France alone, 1,300 sites are classified under
the Seveso 3 directive as major-accident hazards.
Context
26
Current NDT Solutions
Require controlled, laboratory-like environments to be effective
and are difficult to adapt to field conditions, requiring
significant operator intervention.
Not adapted to field conditions
This is problematic for industrial environments presenting
health and safety risks (i.e. nuclear power plants).
Solution
27
Pros:
Reduce operator exposure
Improve inspection quality
Increase inspection frequency
Cons:
Require robotics expertise
Difficult to teleoperate
No off-the-shelf solutions
Industrial robotic manipulators
Can be used as flexible and accurate platforms
for NDT in complex and hazardous environments.
Solution
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Precision Vision
Systems
Human-Robot
Interfaces
Systems Integration
& Certification
Brand-Agnostic
Optimal Control
Intelligent Robotic
Algorithms
Profilometry
Optical NDT
Robotic Quality
Control Solutions
Vision
Algorithms
Market Driven
Innovation
PRIMUS system is a software and
hardware solution
which transforms off-the-shelf industrial
robots into flexible, accurate, and cost-
effective platforms.
For more information about
PRIMUSplease contact:
Ryan Lober : ryan@flr.io
Brief Introduction
Asénath Etile
INNOWTECH – [MIRoS]
MIRoSMobile & Innovative Robot with
Sensors
“No more worries about investigation in a radiative environment, send MIRoS, a
robot with complete autonomy”
Asénath ETILE
a.etile@innowtech.com
Outline
➢MIRoS Presentation
➢Impact
➢Demo
➢Conclusion
MIRoS presentationMIROS (Mobile Innovative Robot with Sensor) a sensor-robot for nuclear facility inspection
Missions
• Visual inspection
• Physical measurements (dose rate, mapping, video)
Advantages
• Qualified to evolve in a radiative environment
• Optimized integration→ Compact (37x42x17 cm) & lightweight (3.8kg)
• Wireless (r3Com® & r3Link®) & autonomous (r3Cell®)
• Holonomic motion
• SLAM (simultaneous localization and mapping) & swarm-intelligence
• Eletronic monitoring technologies (r3Care®)
Mobility
Electronicmonitoring
Sensors
17cm
40cm42cm
MIRoS presentation
HMI for measurement settings and robot control
HMI for electronic health monitoring
Impact
• Where? facilities where there is a need for (punctual or regular) investigations and measurement campaigns
• Who’s for? maintenance operators, staff working in radiative or inaccessible environments and safety and protection against radiation operators or inspectors
• How? With a smaller, lighter, cheaper, autonomous, reliable robot, developed in collaboration with operators & users
• What changes?
o Democratization of the use of Lithium battery in nuclear environment
o Demonstration of a robotic solution withstanding harsh radiative environments
o Workers protection & safer operations
o Democratization of the use of cybersecured wireless communication for robots
ConclusionUsing MIRoS is the opportunity to:
• Bring innovation in nuclear environments: compact, reliable, cheap, cybersecured wireless, autonomous robot for inspection, mapping and measurement campaigns.
• Bring new standards in nuclear environments: Lithium battery, polymer additive manufacturing.
• Contribute to more safety for workers in a nuclear environment.
• Contribute to more safety in the operations.
Opportunity to present @ FORATOM webinar →Improving our product: we would like to have discussion with operators/actors in nuclear industry about their needs, with end-users
Thank you
Questions?
Brief Introduction
Ben Chaudhri
Createc – [UCODE]
RIMA Project UCODE
Underwater Cobot Decommissioning
Presenter: Ben Chaudhri (Createc)Project supported by
Consortium Members
• Createc - experts in applying novel sensing and robotics technology to industrial problems, especially nuclear
• Fortis - experts in underwater operations technology for subsea and nuclear
web: fortis-design.co.uk
web: createc.co.uk
Underwater decommissioning
• Nuclear facilities being decommissioned have significant underwater infrastructure• Reactors• Storage
• Complex underwater environment currently requires specialist expensive robotics for dismantling
• Could generalist off-the-shelf robotics technologies help?
Collaborative robots (cobots)
• Small(ish) low-cost commodity robots designed to work safely in unstructured environments alongside humans
• Force + position control with force sensing enables tasks requiring high manual dexterity to be performed remotely
• Promising results for tackling diverse complex (dry) decommissioning
https://www.createc.co.uk/innovation/capabilities/elephant-to-ants/
UCODE Concept
Underwater cobot concept
Makes underwater cobotdecommissioning viable
Cobot (e.g. UR10) in Fortis' protective oversuit deployed for underwater operations
The cobot is visualized and teleoperated to perform dexterous tasks using Createc Robotics’ Iris operations system
iris
web: createc.co.uk web: fortis-design.co.uk
email: info@fortis-design.co.ukemail: info@createc.co.uk
Thank you for your timefor more information please contact
Project supported by
Brief Introduction
Conan Foster & Martin Sandberg
Westinghouse
Contact details for interest in a collaborative development under a future RIMA call proposals: Xavier Pitoiset - pitoisx@westinghouse.com
Westinghouse Proprietary Class 3
49
© 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Information included in this material is proprietary and confidential and cannot be disclosed or used for any reason beyond the intended purpose without the prior written
consent of Westinghouse Electric Company LLC
November 18, 2020
Westinghouse Robotics
FORATOM Webinar: Robotics Applications within the Nuclear
Industry & the Latest Developments of the RIMA Programme
Conan Foster & Martin Sandberg
50
Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
• Pittsburgh is considered a robotics hotbed by
national news
• Westinghouse has a history of robotics
innovation
– Developed first humanoid robots
– Collaborated on field robotics products
– Helped found prestigious Carnegie Mellon
University robotics program
– Assembled robotics systems to inspect
hazardous conditions
• Dedicated team focused on advancing
robotics technology in our products
and services
• Resources embedded in product lines
to deliver robotics systems
Westinghouse Robotics
OpportunitiesReplace aging infrastructure with newer
technologies
Create new markets with emerging
technologies
Rovers Drones
Arms Submersibles
Industry NeedsImprove worker safety
Workforce augmentation
Deliver faster, reliable, repeatable and
cheaper solutions
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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Scalable Mobile Robotics
• Westinghouse has leveraged advanced robotics
to create technology that can be applied to
many form factors for multiple use cases.
• Mobile
– Moves itself to the work area
– Capable of interacting within its environment
• Scalable
– Adaptable for weight and tooling requirements
– Operate by teleoperation or autonomy
– Capable of using cameras and end effectors
• Systems
– Integrated sensors and safety system
– Onboard intelligent control systems
52
Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Rovers – Rov-A-Scan
• Collects data to evaluate CRDM
wear using laser scanning
techniques
• Controlled through wireless
operation of scanner and rover
• Benefits:– Reduced radiation dose exposure
– Reduced technician need
– Improvement measurement efficiency
Now working on increasing level of autonomy
through fully client light server-based web UI
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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Drones – Interactive Aerial Drones
• Remote controlled UAV with
advanced collision avoidance,
LIDAR and 48MP camera
• Collects data in hazardous areas for
inspection
• Radiation tested materials
• Benefits:– Reduce personnel radiation dose
– Access to challenging areas
– Efficient data collection
Westinghouse and Interactive Aerial
partnership to develop UAV for safe and
efficient inspections
54
Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Arms – Pegasys
• Inspects SG tubes using eddy
current inspection techniques
• Repairs / plugs leaky SG tubes
• Navigates using tube-walking
technology
• Features:– Lightweight and compact
– Quick setup and mounting
– Rapid and precise positioning
– On-the-fly position verification
– Simplified control system
More than 50 Pegasys robots have been
fabricated and used at more than 100 plant
outages
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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Arms – Auto Decontamination
• Fast efficient cleaning of random
never-before-seen parts
• Gathers real time positional data
used to provide robotic “vision”
• Uses optimized path planning with
no-onsite programming
• Features:– Reduces personnel dose exposure
– Reduces cycle time and schedule
Active development of rapid prototyping
robotic arm with variable link lengths
56
Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Arms – Modular Robotic Arm
• Demonstrates rapid design and
prototyping capabilities – only 2.5
months from design to prototype.
• Implements traditional and next
generation manufacturing
techniques.
• Uses modular components and
software.
• Capable of simple and fast field
adjustments.
Active development of modular actuators for
an economic, agile robot prototyping platform
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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Submersibles – Vector for Midas Submersible
• Remotely operated submersible
vehicles equipped with computer
vision navigating system
• Localization at up to 30,000
RAD/hour
• Benefits• Underwater inspections are
necessary
• Capable of reaching difficult to reach
areas based on design
Implemented state of the art robotics
technologies and methods through
collaboration with CMU robotics institute
58
Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.
Nemo - Under water inspection ROV
Core area, high
radiation
Object to inspect
Core grid,
dimensional
limitation 300x300
mm
Water depth 25 mFixed buoyancy
Trim tank
Motors and electronics
Clamps for travel
Cameras or probes
Q&A session
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