Pozicioniranje robotskog manipulatora u reaktorskoj posudi nuklearne elektrane

diplomski rad

• Naslov (engleski): Positioning of a robot manipulator in a nuclear vessel of a nuclear power plant
• Autor: Toma Sikora
• Mentor: Stjepan Bogdan (mentor)
• Član povjerenstva: Stjepan Bogdan (član povjerenstva)
• Član povjerenstva: Tamara Petrović (član povjerenstva)
• Član povjerenstva: Goran Vasiljević (član povjerenstva)
• Ustanova koja je dodijelila akademski / stručni stupanj: Sveučilište u Zagrebu; Fakultet elektrotehnike i računarstva; Zagreb
• Datum i država obrane: 2023-07-13, Hrvatska

Sažetak

.

Sažetak (engleski)

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.

• Ključne riječi: robotski manipulator; pozicioniranje; vizualna povratne veza
• Ključne riječi (engleski): robotic manipulator; positioning; visual feedback
• Jezik: engleski
• URN:NBN: urn:nbn:hr:168:756409
• Studijski program: Naziv: Informacijska i komunikacijska tehnologija; Vrsta studija: sveučilišni; Stupanj studija: diplomski; Akademski / stručni naziv: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (mag. ing. inf. et comm. techn.)
• Vrsta resursa: Tekst
• Način izrade datoteke: Izvorno digitalna
• Prava pristupa: Zatvoreni pristup
• Datum i vrijeme pohrane: 2023-10-11 10:26:14