A tele-operated semi-intelligent climbing robot for nuclear applications
This paper describes the design and construction of a tele-operated eight-legged walking/climbing robotic vehicle aimed at meeting the specifications provided by the nuclear industry. The overall design philosophy is based upon biological systems and their behaviours so that the resulting vehicle can perform the required duties in an efficient manner. A hybrid control architecture is employed in the system which combines the advantages of both hierarchical and reactive methodologies. Preliminary on-site trials have shown that the designed and constructed vehicle is capable of fulfilling the user requirements.
Abstract Power systems in Japan still have a continual upward tendency in size and complexity with increasing demand. Energy control centers have been expanded to cope with requirements by the modern society for the more reliable supply of electric power. Special importance has been attached to the swift and exact switching operation in emergency and restorative states. As it is almost beyond human intervention, tile automated switching operation is under study. Switching operations to be executed at the points of action (power station, substation) will be integrated into a most effective pattern of switching operations under supervision of the points of decision making (central and regional dispatching offices) in the near future.