Development of a Tele-operated Underwater Robotic System for maintaining a light-water type power reactor
The safety and reliability of nuclear power plants is very important. An inspection and maintenance of nuclear power plants should be achieved simultaneously. However, the limitation of a radiation exposure makes it difficult to work in nuclear power plants. Therefore, a tele-operated robotic system is very useful for inspecting and maintaining the components of nuclear power plants because it reduces the level of a radiation exposure to the human operators and it improves the reliability of an operation. A tele-operated underwater robotic system is needed for detecting and removing a loose part in a nuclear reactor vessel. A loose part, which can come from any failed component or an item left during a construction, refueling or maintenance like metallic parts, bolts, nuts and washers, affects the safety of a nuclear power plant. In this paper, an underwater robotic system is developed for inspecting the bottom of a nuclear reactor vessel and a reactor coolant system and also for removing some particles in them. In order to evaluate the performance of the developed underwater robotic system, an experiment was performed in a small swimming tank. In the experiments, the developed robotic system could inspect the state of the tank and remove some particles successfully
Robotic applications in PSE&G's nuclear and fossil power plants
Robots are rapidly becoming a strategic technology in the electric utility industry. Since 1983, over 200 applications of these devices have been documented, often resulting in significant time and manpower savings. In nuclear plants, these devices have reduced radiation exposure to human workers and also reduced plant downtime. Public Service Electric and Gas (PSEG discussing the cost, performance and benefits of specific applications. >
Representation of systems disturbed by wide band noise
In this paper, a method of handling and working with wide band noise is developed. We represent wide band noise as a distributed delay of white noise and use it to reduce a nonlinear system disturbed by wide band noise to a nonlinear system disturbed by white noise. An application of this reduction to a nonlinear filtering problem under a wide band noise disturbance is discussed.