Radiation tolerance of components and materials in nuclear robot applications

doi:10.1016/S0951-8320(96)00054-3

Reliability Engineering & System Safety

Volume 53, Issue 3, September 1996, Pages 291-299

https://doi.org/10.1016/S0951-8320(96)00054-3 Get rights and content

Abstract

This paper describes the implications of radiation effects on the reliable and safe operation of robotic and manipulator systems in nuclear environments. Radiation effects on typical components are outlined and examples of two systems to which radiation tolerant design rules have been applied are illustrated.

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The primary radiation damage is an important part of the radiation process, which is of current interest as the rapid development of nuclear reactors and space instrumentation. In this study, using machine learning, we have demonstrated that atomic mass difference, Poisson’s ratio, mean atomic mass, and mass density have significant influence on the defect generation efficiency of a material during the primary damage step. Furthermore, we construct a new dataset by using these important features and obtain a well-trained neural network for predicting new materials with low efficiency of defect generation. In our study, the target of the dataset for training the predictor is constructed using the results from molecular dynamics simulations. This work provides the guiding information for designing materials with low efficiency of defect generation.
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Citation Excerpt :
It is very important and meaningful to promote the crossing research about the robotics and nuclear power plants. The research of robotics applied into the nuclear plants has kept developing since many years ago [3–6]. The first example of robotics technology application in NPPs was realized in US for radioactive materials handling.
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An overview of radiation effects on electronic devices under severe accident conditions in NPPs, rad-hardened design techniques and simulation tools
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New requirements on post-accident monitoring systems in nuclear power plants pose fresh challenges for electronic system designers and nuclear power plant personnel, in particular, on how radiation can potentially affect the electronics in such systems; and how one can deal with such effects. In fact, study on radiation effects on electronic devices, effective design techniques to reduce such impacts, as well as simulation tools and design aids, has spanned for many decades. As a result, there is vast literature on the subject scattered in many places and in various forms, which inadvertently makes it difficult for non-specialists, such as an electronic engineer, to obtain relevant information effectively. The objective of the current paper is to provide a high-level overview in an organized fashion to guide readers to right literature for more detailed study on a specific topic in this area. The paper consists of three logically connected parts: radiation effects on electronics; design techniques to minimize such effects; and modeling and simulation tools available. For each part, a brief introduction of key issues is described first followed by a list of key references. In total, 336 references have been assembled to provide a comprehensive coverage on this subject.
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Equally extensive research activities on the other hand, do not focus on a specific robotic mission, yet they present cutting-edge research in order, for example, to increase the radiation resistance of mechanical and electronic components as well as to improve computing reliability. Examples include undertaking irradiation tests on optical fibres (Coenen and Decreton, 1993), position sensing using laser systems (Decreton, 1995), and other sensory components, communication, cabling and connector (Diggins et al., 2015; Garreau et al., 2013; Han et al., 2015; Kuwahara et al., 2012; Liu et al., 2018; Sharp and Decreton, 1996; Sinclair and Chertov, 2015; Van Duy et al., 2015; Zhang et al., 2013). Similarly, high end computing is also regarded as greatly important (Bagatin et al., 2017; Lin et al., 2016; Nancekievill et al., 2016; Ostler et al., 2009; Schmidt et al., 2012; Sterpone et al., 2005; Wu et al., 2011).
The use of ground-based robotic systems for the characterisation of nuclear environments is reviewed. Almost since the dawn of the nuclear energy industry, man has somewhat inadvertently created environments in which access has been constrained primarily due to the risk posed by extreme levels of radiation exposure but also due to space constraints, and because of toxic and combustible atmospheres. Robotic systems pose an ideal solution to some of these difficulties, removing the need for humans to access such places and frequently providing data on the state of such places that would not otherwise be available. However, each of these requirements is often very different in terms of the specification of a given robot, and the detailed characteristics of a given harsh environment can pose significant challenges even for the most robust of platforms. Furthermore, such developments can be expensive in terms of cost and development time. These issues notwithstanding, robotic solutions to nuclear challenges are reaching a level of maturity where their use is destined to add significant value. This paper considers the salient developments in ground-based solutions from the era preceding the Three Mile Island accident, through Chernobyl and on to the present day and, in particular, the needs of Fukushima Daiichi as attentions turn to this complex robotic suite of challenges.
γ-Ray irradiation stability and damage mechanism of glycidyl amine epoxy resin
2016, Nuclear Instruments and Methods in Physics Research, Section B: Beam Interactions with Materials and Atoms
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For example, the mechanical properties of glass fiber enforced TGPAP epoxy composite are scarcely affected by γ-ray irradiation with a low dose rate of 6 kGy/h [11], and there is no obvious performance change for TGPAP/DDM resin system under neutron irradiation with 1.77 × 1022 n/m2 [12]. Nevertheless, higher energy gamma rays produced in nuclear power plant [13], especially during the nuclear leakage are more harmful, and will result in great resin matrix degradation and sharp mechanical strength decrease. So the investigation of radiation damage mechanism of TGPAP as well as the irradiation influence on its physical–chemical properties under high energy photon reflux is very necessary.
Irradiation stability of triglycidyl-p-aminophenol (TGPAP) epoxy resins was evaluated according to the changes of physico-chemical and mechanical properties under ⁶⁰Co γ-ray irradiation with a dose rate of 10 kGy/h. The result shows that with the increase of radiation dose, bending strength, thermal stability, free radical concentration and storage modulus of epoxy resin decrease first, then increase slightly, and decline sharply at the end with a dose of 960 kGy, due to competition effects between radiation-induced degradation and cross-linking reaction. The damage mechanism was derived by analyzing structure and composition change of AFG-90 resins after irradiation via IR and XPS. Irradiation will result in weak bond breaking such as CC and CN bond, and new bond forming like CC and CO.

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Radiation tolerance of components and materials in nuclear robot applications

Abstract

Materials and Design

Reliab. Engng System Safety

Solid State Elect.

Real-time collision avoidance in teleoperated whole-sensitive robot arm manipulators

IEEE Trans. Systems, Man and Cybernetics

Radiation effects on electronic equipment — A designers'/users' guide for the nuclear power industry

Environmental tolerance, reliability and safety for teleman robots, the ENTOREL project

The management of radiation-induced faults in teleoperation used in nuclear plants

Fuzzy approach to the reliability assessment of systems under the influence of radiation

Radiation and temperature hardened components for in-vessel handling equipment

Harwell hardens Stäubli Puma

Industrial Robot

The use of intelligent sensors in nuclear environment: the example of nuclear robotics

HF-Revue (Belgium)

The radiation resistance of force sensors used on telerobotic nuclear equipment