Aerial working environment monitoring robot in high radiation area

This paper describes the development of a robot monitoring an aerial working environment in a high radiation area such as the Calandria face at a PHWR (pressurized heavy water reactor) of a nuclear power plant. The robot consists of three main parts: a mobile platform, a telescopic mast, and a mission tool. To access the target place across the guide rail ditch of a shielding door, the mobile platform is equipped with two front rubber wheels, two rear omni-wheels, and four flippers. The telescopic mast installed on the platform is able to lift up the mission devices to the height of 10 m. The mission devices are a radio hardened camera, a leak detecting sensor, a dosimeter detecting high radiation level, and a RAM operating device of a fuel exchange machine. In addition, a control system considering the emergency was developed.