FORATOM webinar:

Robotics Applications within

Nuclear Industry & Latest

Developments of RIMA Programme

18 November 2020

Webinar agenda

1. Introduction

2. RIMA Programme’s latest developments

3. PRIMUS Platform for Robotic Inspection andMaintenance in Unstructured Settings France -nuclear project funded in the 1st open call

4. MIRoS Mobile and Innovative Robot with Sensors -nuclear project funded in the 1st open call

5. UCODE Underwater Cobot Decommissioning -nuclear project funded in the 1st open call

6. Westinghouse - nuclear industry's perspective

7. Q&A session

Christophe Leroux

CEA

Ryan Lober

Fuzzy Logic Robotics –[PRIMUS]

Asénath Etile

INNOWTECH –[MIRoS]

Ben Chaudhri

Createc [UCODE]

Martin Sandberg

Westinghouse

Conan Foster

Westinghouse

FORATOM webinar: Robotics Applications within the

Nuclear Industry & Latest Developments of the RIMA Programme

SPEAKERS

Brief Introduction

Introduction

Nathan Paterson - FORATOM

www.foratom.org | foratom@foratom.org |

5

There is great interest in the application of robotics solutions within the nuclear industry

Robotics Challenge Winning Design

Helps Speed up Spent Fuel

Verification (link)

Workshop on the Application of

Remote and Robotic Systems (link)

International European

Ageing Management Topical Peer

Review highlights - Robotic visual

inspection for detection of local

corrosion in long lengths of piping (link)

Funded R&D Projects such as Robotic

Manipulation for Nuclear Sort and

Segregation (RoMaNS) and RIMA

www.foratom.org | foratom@foratom.org |

6

RIMA Nuclear Challenges

RIMA Challenges (Link) and knowledge base (Link)

www.foratom.org | foratom@foratom.org |

7

RIMA programme

Link

Brief Introduction

Christophe Leroux

CEA

RIMA programme

9FORATOM Infoday, 18th November 2020, Christophe Leroux, CEA LIST

10

Agenda

RIMA

Open Call 2

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• Reinforcing European leadership in I&M robotics by

• connecting technology to industrial/sectorial needs

• fostering cross border cooperation

• Set mechanisms speeding uptake of robotics

• Relies on Digital Innovation Hubs concept (DIHs).

• DIHs are “one stop shops to get support in understanding digital technologies and support on how to finance/nurture the necessary investments”.

Vision

12

RIMA – Robotics for Inspection and Maintenance of Infrastructures

https://rimanetwork.eu/about-rima

• Support for uptake of robotics by industry

• Marketplace

• Sharing practices

Network of 13 Digital Innovation Hubs

• Tech transfer, proof of concept, access to testing facilities

• Advising, coaching, training, matchmaking,

• Path to market, market deployment

• Communication, dissemination

• Links with stakeholders, actors of value chain: asset owners or operators, techno and service providers, investor, certification bodies

Offer of services

EU-funded project, 2019-2022, lead CEA

15

Open calls

• 8M€ distributed to SMEs

•2 open calls

Experiments

• Innovative

• Impacting

16

• Duration: RIE (up to 14 months

• Funding: up to 150 k€

RIE (Robotics Innovation Experiment)

• 2 SMEs

• Techno providers

• Service providers

• Integrators

• Robotics

Mandatory

17

•starts on 15th of December 2020 00:00 (CET)

•deadline: 17th of March 2020, 16:00 (CET)

Submission of applications

18

1 2

Selected ExperimentsTTE

PRIMUSWISE-

INSPECTAPIBOT

TANGO ATEXDRONE RRRc

19

1 2

Selected ExperimentsTD

UCODEPondsurvey.

comRAHIP

MIRoS INOWATT FIDR

LeaksBusterRCU Preventa

Bot

AeroDefectScan

DRONE4PV

APRORAP MAP4CAT

DATASTART KFT.

21

Finalists of 1st RIMA Open Call – TTEs & TDs

22

• FORATOM: Nathan Paterson nathan.paterson@foratom.org

• CEA: Christophe Leroux christophe.leroux@cea.fr

• CEA: Farzam Ranjabanfarzam.ranjbaran@cea.fr

Contacts

• https://rimanetwork.eu/

Web portal

Brief Introduction

Ryan Lober

Fuzzy Logic Robotics – [PRIMUS]

PRIMUSPlatform for Robotic Inspection and

Maintenance in Unstructured Settings

Context

25

Non-Destructive Testing (NDT)

A crucial aspect of existing infrastructure security and

productivity.

Ageing Infrastructures & Strict Regulations

Europe accounted for 30% of the global NDT services

market in 2018 (1 B USD).

→ In France alone, 1,300 sites are classified under

the Seveso 3 directive as major-accident hazards.

Context

26

Current NDT Solutions

Require controlled, laboratory-like environments to be effective

and are difficult to adapt to field conditions, requiring

significant operator intervention.

Not adapted to field conditions

This is problematic for industrial environments presenting

health and safety risks (i.e. nuclear power plants).

Solution

27

Pros:

Reduce operator exposure

Improve inspection quality

Increase inspection frequency

Cons:

Require robotics expertise

Difficult to teleoperate

No off-the-shelf solutions

Industrial robotic manipulators

Can be used as flexible and accurate platforms

for NDT in complex and hazardous environments.

Solution

28

Precision Vision

Systems

Human-Robot

Interfaces

Systems Integration

& Certification

Brand-Agnostic

Optimal Control

Intelligent Robotic

Algorithms

Profilometry

Optical NDT

Robotic Quality

Control Solutions

Vision

Algorithms

Market Driven

Innovation

PRIMUS system is a software and

hardware solution

which transforms off-the-shelf industrial

robots into flexible, accurate, and cost-

effective platforms.

For more information about

PRIMUSplease contact:

Ryan Lober : ryan@flr.io

Brief Introduction

Asénath Etile

INNOWTECH – [MIRoS]

MIRoSMobile & Innovative Robot with

Sensors

“No more worries about investigation in a radiative environment, send MIRoS, a

robot with complete autonomy”

Asénath ETILE

a.etile@innowtech.com

Outline

➢MIRoS Presentation

➢Impact

➢Demo

➢Conclusion

MIRoS presentationMIROS (Mobile Innovative Robot with Sensor) a sensor-robot for nuclear facility inspection

Missions

• Visual inspection

• Physical measurements (dose rate, mapping, video)

Advantages

• Qualified to evolve in a radiative environment

• Optimized integration→ Compact (37x42x17 cm) & lightweight (3.8kg)

• Wireless (r3Com® & r3Link®) & autonomous (r3Cell®)

• Holonomic motion

• SLAM (simultaneous localization and mapping) & swarm-intelligence

• Eletronic monitoring technologies (r3Care®)

Mobility

Electronicmonitoring

Sensors

17cm

40cm42cm

MIRoS presentation

HMI for measurement settings and robot control

HMI for electronic health monitoring

Impact

• Where? facilities where there is a need for (punctual or regular) investigations and measurement campaigns

• Who’s for? maintenance operators, staff working in radiative or inaccessible environments and safety and protection against radiation operators or inspectors

• How? With a smaller, lighter, cheaper, autonomous, reliable robot, developed in collaboration with operators & users

• What changes?

o Democratization of the use of Lithium battery in nuclear environment

o Demonstration of a robotic solution withstanding harsh radiative environments

o Workers protection & safer operations

o Democratization of the use of cybersecured wireless communication for robots

Demo

https://www.youtube.com/watch?v=H5qmSNBEX1c

ConclusionUsing MIRoS is the opportunity to:

• Bring innovation in nuclear environments: compact, reliable, cheap, cybersecured wireless, autonomous robot for inspection, mapping and measurement campaigns.

• Bring new standards in nuclear environments: Lithium battery, polymer additive manufacturing.

• Contribute to more safety for workers in a nuclear environment.

• Contribute to more safety in the operations.

Opportunity to present @ FORATOM webinar →Improving our product: we would like to have discussion with operators/actors in nuclear industry about their needs, with end-users

Thank you

Questions?

Brief Introduction

Ben Chaudhri

Createc – [UCODE]

RIMA Project UCODE

Underwater Cobot Decommissioning

Presenter: Ben Chaudhri (Createc)Project supported by

Consortium Members

• Createc - experts in applying novel sensing and robotics technology to industrial problems, especially nuclear

• Fortis - experts in underwater operations technology for subsea and nuclear

web: fortis-design.co.uk

web: createc.co.uk

Underwater decommissioning

• Nuclear facilities being decommissioned have significant underwater infrastructure• Reactors• Storage

• Complex underwater environment currently requires specialist expensive robotics for dismantling

• Could generalist off-the-shelf robotics technologies help?

Collaborative robots (cobots)

• Small(ish) low-cost commodity robots designed to work safely in unstructured environments alongside humans

• Force + position control with force sensing enables tasks requiring high manual dexterity to be performed remotely

• Promising results for tackling diverse complex (dry) decommissioning

https://www.createc.co.uk/innovation/capabilities/elephant-to-ants/

UCODE Concept

Underwater cobot concept

Makes underwater cobotdecommissioning viable

Cobot (e.g. UR10) in Fortis' protective oversuit deployed for underwater operations

The cobot is visualized and teleoperated to perform dexterous tasks using Createc Robotics’ Iris operations system

iris

web: createc.co.uk web: fortis-design.co.uk

email: info@fortis-design.co.ukemail: info@createc.co.uk

Thank you for your timefor more information please contact

Project supported by

Brief Introduction

Conan Foster & Martin Sandberg

Westinghouse

Contact details for interest in a collaborative development under a future RIMA call proposals: Xavier Pitoiset - pitoisx@westinghouse.com

Westinghouse Proprietary Class 3

49

© 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Information included in this material is proprietary and confidential and cannot be disclosed or used for any reason beyond the intended purpose without the prior written

consent of Westinghouse Electric Company LLC

November 18, 2020

Westinghouse Robotics

FORATOM Webinar: Robotics Applications within the Nuclear

Industry & the Latest Developments of the RIMA Programme

Conan Foster & Martin Sandberg

50

Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

• Pittsburgh is considered a robotics hotbed by

national news

• Westinghouse has a history of robotics

innovation

– Developed first humanoid robots

– Collaborated on field robotics products

– Helped found prestigious Carnegie Mellon

University robotics program

– Assembled robotics systems to inspect

hazardous conditions

• Dedicated team focused on advancing

robotics technology in our products

and services

• Resources embedded in product lines

to deliver robotics systems

Westinghouse Robotics

OpportunitiesReplace aging infrastructure with newer

technologies

Create new markets with emerging

technologies

Rovers Drones

Arms Submersibles

Industry NeedsImprove worker safety

Workforce augmentation

Deliver faster, reliable, repeatable and

cheaper solutions

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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Scalable Mobile Robotics

• Westinghouse has leveraged advanced robotics

to create technology that can be applied to

many form factors for multiple use cases.

• Mobile

– Moves itself to the work area

– Capable of interacting within its environment

• Scalable

– Adaptable for weight and tooling requirements

– Operate by teleoperation or autonomy

– Capable of using cameras and end effectors

• Systems

– Integrated sensors and safety system

– Onboard intelligent control systems

52

Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Rovers – Rov-A-Scan

• Collects data to evaluate CRDM

wear using laser scanning

techniques

• Controlled through wireless

operation of scanner and rover

• Benefits:– Reduced radiation dose exposure

– Reduced technician need

– Improvement measurement efficiency

Now working on increasing level of autonomy

through fully client light server-based web UI

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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Drones – Interactive Aerial Drones

• Remote controlled UAV with

advanced collision avoidance,

LIDAR and 48MP camera

• Collects data in hazardous areas for

inspection

• Radiation tested materials

• Benefits:– Reduce personnel radiation dose

– Access to challenging areas

– Efficient data collection

Westinghouse and Interactive Aerial

partnership to develop UAV for safe and

efficient inspections

54

Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Arms – Pegasys

• Inspects SG tubes using eddy

current inspection techniques

• Repairs / plugs leaky SG tubes

• Navigates using tube-walking

technology

• Features:– Lightweight and compact

– Quick setup and mounting

– Rapid and precise positioning

– On-the-fly position verification

– Simplified control system

More than 50 Pegasys robots have been

fabricated and used at more than 100 plant

outages

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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Arms – Auto Decontamination

• Fast efficient cleaning of random

never-before-seen parts

• Gathers real time positional data

used to provide robotic “vision”

• Uses optimized path planning with

no-onsite programming

• Features:– Reduces personnel dose exposure

– Reduces cycle time and schedule

Active development of rapid prototyping

robotic arm with variable link lengths

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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Arms – Modular Robotic Arm

• Demonstrates rapid design and

prototyping capabilities – only 2.5

months from design to prototype.

• Implements traditional and next

generation manufacturing

techniques.

• Uses modular components and

software.

• Capable of simple and fast field

adjustments.

Active development of modular actuators for

an economic, agile robot prototyping platform

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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Submersibles – Vector for Midas Submersible

• Remotely operated submersible

vehicles equipped with computer

vision navigating system

• Localization at up to 30,000

RAD/hour

• Benefits• Underwater inspections are

necessary

• Capable of reaching difficult to reach

areas based on design

Implemented state of the art robotics

technologies and methods through

collaboration with CMU robotics institute

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Westinghouse Proprietary Class 3 © 2020 Westinghouse Electric Company LLC. All Rights Reserved.

Nemo - Under water inspection ROV

Core area, high

radiation

Object to inspect

Core grid,

dimensional

limitation 300x300

mm

Water depth 25 mFixed buoyancy

Trim tank

Motors and electronics

Clamps for travel

Cameras or probes

Q&A session