RADWASTE MANAGEMENT | ROBOTICS Right, figure 4:
Radiological detectors in Virero, from left to right HPGe detector, CeBr3
NaI(Tl) scintillation detector and Geiger-Müller counting tube,
ordered by decreasing energy resolution from right to left
scintillation detector,
Energy resolution
Right, figure 5:
If the representation of dynamic objects in an augmented
virtuality scene is only realised with a superimposed point cloud, the visualisation may be strongly affected by artifacts
(centre). If, on the other hand, CAD models are superimposed on the correct position of
the parts for known objects, the display quality increases significantly (right)
V camera using the AV menu in the VR. The operator can select an optimal image position for the waste part and the chosen camera. The captured image is stored with the data from radiological characterisation and any other data (eg dimension and weight estimates) and automatically assigned to the selected barrel for sorting. One research question addressed by the Virero project is deriving the sorting criteria. The sorting process is documented and monitored accordingly. In the case of manual teleoperated sorting by the operator, recommendations for action are displayed within the VR. Photo documentation also includes an overlay of the images of waste parts with their reconstructed activity distribution. This allows the radiological characterisation results to be embedded into the conditioning campaign documentation.
Economic and technical advantages Coupling an automated nuclide-specific activity reconstruction with VR or AR-based teleoperated sorting has technical and economic advantages. Precise activity reconstruction of individual waste parts is
likely to allow volume optimisation of packaged radioactive waste. By separating high-activity waste components, hotspots can be separateted and fed into a separate conditioning process. This results in lower volumes of highly radioactive waste to be packed and reduced cost. Remote-controlled robotic arms have several advantages over the mechanical remote manipulators currently used in hot cells. Nearly all existing hot cells are designed for fine motor work with highly active substances. They cannot
48 | February 2022 |
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conduct dismantling and separating procedures that require use of force, such as breaking up a concrete matrix or cutting metal structures. The robot arms used in the Virero R&D project can be
ordered in different sizes and designs ‘off the shelf’ from various manufacturers. A mixture of heavy-duty robots for processing objects with powerful tools and smaller moving robots for handling individual items are being tested as options.
One difference from the classic manipulator system is that a mechanical coupling between the operator and manipulator arms is no longer necessary. There is no need for a permanent workstation near the hot cell since virtual reality enables spatial decoupling of operator and manipulator. The partial automation tested in the Virero project also increases the efficiency of the sorting process, as it enables longer operating times than with a completely manual sorting system. Due to the compact and modular design, it can be
quickly integrated into the conditioning process. This helps to minimise transport and the associated time delays and risks. ■
Acknowledgements The R&D project Virero is partially funded by the German Federal Ministry of Education and Research (FMER) funding guideline FORKA under the funding codes 15S9422A-C. ■
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