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TELEMAN 48 - Intelligent Nuclear Gantry Robot Integrated Demonstrator



TELEMAN 48 INGRID is a robust mobile machine consisting of an integrated gantry and manipulator robot system which will demonstrate computer aided teleoperation. The control system will be fully integrated so that a wide range of hardware can be deployed on the gantry robot facility and simultaneously controlled from a single work station. The system is to be capable of performing a broad range of representative remote handling tasks which are directly applicable to the operation of a nuclear plant and also transferable to many other hazardous robotic operations.
A robust mobile machine (INGRID) consisting of an integrated gantry and manipulator robot system is being developed which will demonstrate computer aided teleoperation.
INGRID is currently undergoing final integration and commissioning before the execution of test scenarios. Work prior to this stage has been successful in developing further and adapting the results of the previous projects; these achievements enable integration and subsequent evaluation.

The spatial, functional and procedural components of the remote handling workstation (RHWS), have been successfully integrated providing a man machine interface to the devices and the working environment together with operational aids. The integrating and coordinating semiautonomous controller (SAC) has been implemented, enabling control of the various subsystems from the RHWS. Improvement to the path planning support system by utilizing a guide method has produced a system capable of providing planned routes in an accelerated time scale. A revised gantry control system is operational allowing both teleoperated and programmed control; whilst the Harwell telerobotic controller (HTC) has been upgraded providing BSP based bilateral teleoperation and force controlled robotic execution of various tasks. The Universal teleoperator device configured on a Puma 260 is capable of dextrous operation in a number of modes including bilateral and rate control whilst results using active compliance force control algorithms for manual teleoperation have shown a significant improvement during hard contact tasks. The lateral collision sensor system and modular sensor have been developed and successfully demonstrated. A 3-dimensional zoom lens radiation tolerant camera and associated pan and tilt head have been developed together with a measuring system to extract position data from a camera view. Furthermore a qualitative reliability analysis which includes an assessment of radiation induced failures has been completed.
Results of research on building blocks in earlier TELEMAN projects TM1 - ARTIST, TM7 - VISYS, TM20 - MAGIC, TM26 - SIMPLE, and TM41 - ENTOREL are being further developed and integrated in the TELEMAN TM48 - INGIRD robust gantry-mounted telemanipulator research machine project. Main components of the current project are being used fully by partners within their own in-house research and plant support projects. The results to date of each individual partner's achievements are being widely marketed and are, in specific cases, commercially viable. Further opportunities for exploitation are available following full integration and testing of the TELEMAN TM48 - INGRID facility.
Work to be done

The work programme has been sectioned into four task areas which will be developed for integration in the last phase of the project.

(a) Remote handling work station
The provision of an integrated work station capable of planning and simulation, and subsequent monitoring and controlling of all devices within the system during mission execution, enabling ergonomic and transparent remote operation whilst in manual mode and maintaining overall supervisory control during semi-autonomous operation.

(b) Control system
A fully integrated control system, including the semi-autonomous controller, device sub-system controllers and the sensor support system, capable of real-time communications between external sensors and sub-system controllers, with fault tolerant hardware and software control sub-system modules.

(c) Generic devices
A range of generic devices will constitute the functional basis of the system. These will include the viewing cameras, the manipulator robot and end effectors, the gantry and hoist, and the force/torque sensors.

(d) Design, implementation and testing of scenarios
Scenarios of representative missions which such a system might be required to perform are to be defined in order to set the working parameters and specifications of the complete system. Global motion planning for the redundant gantry and manipulator robot system will be performed in collaboration with the PIAP Institute, Warsaw, Poland. In addition, final year student research projects will be carried out at the Universities of Hannover, Newcastle upon Tyne, and the Technical University of Denmark.

Test strategy

The fully integrated system will be demonstrated performing the scenarios onsite at the nuclear fuel reprocessing plant of the project coordinator. A reliability assessment and ease of use and partial failure recovery tests will be undertaken.

Funding Scheme

CSC - Cost-sharing contracts


British Nuclear Fuels plc (BNFL)
CA20 1PG Seascale
United Kingdom

Participants (7)

200,Herrmann Debrouxlaan 40-42
1160 Bruxelles
Centre de Recherches Scientifiques etTechniques de l'Industrie des Fabrications Métalliques - CRIF/WTCM
50,Avenue Franklin Roosevelt
1050 Bruxelles
Forschungszentrum Karlsruhe Technik und Umwelt GmbH

76021 Karlsruhe
Frederiksborgvej 399
4000 Roskilde
Appelstrasse 11A
30167 Hannover
United Kingdom
Herschel Building
NE1 7RU Newcastle Upon Tyne
United Kingdom Atomic Energy Authority (UKAEA)
United Kingdom
Harwell Laboratory
OX11 0RA Didcot