Naslov
Autonomous Mobile Robots For Deep And Shallow Hydrodynamic Treatment Of Concrete And Metal Surfaces

Autori
Orsag, Matko ; Kovačić, Zdenko ; Flegarić, Stjepan ; Brkić, Kristijan ; Balać, Boris ; Ante, Mamić ;

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Skup
23rd Internationak Conference Nuclear Energy for New Europe.

Mjesto i datum
Portorož, Slovenija, 08.09.2014. - 11.09.2014

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobilni roboti ; Autonomija ; Hidrodinamička obrada
(Mobile robot ; Autonomy ; Hydrodynamic treatment)

Sažetak
Treatment of concrete and metal surfaces. The robot is moving on two tracks with a robot arm able to carry various water jet tools. The size of a robot allows easy transportation and manoeuvring in very confined spaces. Besides two tracks, the on-board system controls also a beam, a rotor tool, lance swing and pitch angles, and a tool-to-surface distance deviation. During operation, a tool is automatically adjusted towards a treated surface. Addition of a vacuum unit allows suction and storage of all water and material during treatment. Robot tests in real exploitation conditions have confirmed all advantages of the described robot design for possible water-based decontamination of metal and concrete surfaces in nuclear power plants. A hydrodemolition mobile robot described in [1] has all characteristics needed to be an autonomous/teleoperated decontamination robot (Figure 1). It is equipped with advanced control functions and wireless remote control to execute deep & shallow high pressure water treatment (1000 – 3000 bar) of concrete and metal surfaces. Robot characteristics are suitable for collection of contaminated surface deposits, removal of contaminated epoxy coatings or for deep and surface decontamination of contaminated concrete.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA