Pozicioniranje robotskog manipulatora u reaktorskoj posudi nuklearne elektrane

master's thesis

• Title (english): Positioning of a robot manipulator in a nuclear vessel of a nuclear power plant
• Author: Toma Sikora
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-07-13, Croatia

Abstract

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Abstract (english)

The inspection of the nuclear power plant cannot be performed by humans
due to the hazardous effects of nuclear radiation on humans. Exposure to nuclear
radiation can cause severe health problems, such as acute radiation sickness,
cancer, and genetic damage. Therefore, the task of inspection and maintenance falls
to advanced robotic systems. These robotic systems, whether remotely operated or
autonomous, offer a viable solution to this problem. They perform both visual and
structural inspections of the various parts of the nuclear power plant, from fuel assembly
to reactor pressure vessels. Moreover, these robotic systems should be able
to operate underwater and withstand the high radiation environments inside the nuclear
reactors. This is due to the fact that for the most part, elements of the nuclear
reactor are submerged in water even during inspection as it prevents radiation spread
significantly.
This thesis study seeks to explore available positioning systems for these robotic
systems. It presents an overview of the challenges encountered in such hazardous environments and proposes an innovative solution for successful localization and operation
of one of the robotic manipulators facilitating the inspection of a nuclear reactor vessel.

• Keywords: robotski manipulator; pozicioniranje; vizualna povratne veza
• Keywords (english): robotic manipulator; positioning; visual feedback
• Language: english
• URN:NBN: urn:nbn:hr:168:756409
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 10:26:14