Teleoperated Cleaning Robots for Use in a Highly Radioactive Environment of the DFDF

Abstract

We describe the development of the teleoperated cleaning robots to be used in a highly radioactive zone of a hot-cell - DFDF (DUPIC Fuel Development Facility). As the DFDF hot-cell is active, a direct human workers' access to the in-cell is not possible because of the nature of the high radioactivity of spent PWR (Pressurized Water Reactor) fuel. The teleoperated cleaning robots were designed and developed to clean up or decontaminate a contaminated floor of the DFDF in a remote manner, thereby completely eliminating a human's interaction with hazardous radioactive contaminants. These cleaning robots are classified into three systems depending on the task environment they are applied to - ROCCS (RObotic Contamination Collection System)-I and -II and TORMS (TeleOperated Robotic Mopping System). We also present the environmental, functional, mechanical design considerations, controls and capabilities of the developed teleoperated cleaning robots.