AUTONOMOUS PATH PLANNING AND PATH EXECUTION FOR DECONTAMINATION OF NUCLEAR POWER PLANT OBJECTS
A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system is disclosed. The decontamination system includes a platform, an imaging system, a robotic arm including an end effector configured to discharge a decontamination medium, and a control system...
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| creator | NARASIMHADEVARA, Murali Tejo Vijay SCHNEPF, Mark BHAI, Nicholas N PETROSKY, Lyman J GLOVER, Jared PARK, Joonwhee LAPRESTI, Michael A BROWN, Dane P BRUCE IV, W. Edward |
| description | A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system is disclosed. The decontamination system includes a platform, an imaging system, a robotic arm including an end effector configured to discharge a decontamination medium, and a control system operably coupled to the imaging system and the robotic arm. The method includes placing the object on the platform, scanning, by the imaging system, the object, generating, by the control system, a three-dimensional model of the object based on the scanned object, planning, by the control system, a decontamination path based on the generated three-dimensional model, controlling, by the control system, a position of the robotic arm according to the planned decontamination path, and discharging, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path. |
| format | Patent |
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Edward</creator><creatorcontrib>NARASIMHADEVARA, Murali Tejo Vijay ; SCHNEPF, Mark ; BHAI, Nicholas N ; PETROSKY, Lyman J ; GLOVER, Jared ; PARK, Joonwhee ; LAPRESTI, Michael A ; BROWN, Dane P ; BRUCE IV, W. Edward</creatorcontrib><description>A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system is disclosed. The decontamination system includes a platform, an imaging system, a robotic arm including an end effector configured to discharge a decontamination medium, and a control system operably coupled to the imaging system and the robotic arm. The method includes placing the object on the platform, scanning, by the imaging system, the object, generating, by the control system, a three-dimensional model of the object based on the scanned object, planning, by the control system, a decontamination path based on the generated three-dimensional model, controlling, by the control system, a position of the robotic arm according to the planned decontamination path, and discharging, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path.</description><language>eng ; fre ; ger</language><subject>DECONTAMINATION ARRANGEMENTS THEREFOR ; NUCLEAR ENGINEERING ; NUCLEAR PHYSICS ; PHYSICS ; PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULARRADIATION OR PARTICLE BOMBARDMENT ; TREATING RADIOACTIVELY CONTAMINATED MATERIAL</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20231101&DB=EPODOC&CC=EP&NR=4268248A1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76290</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20231101&DB=EPODOC&CC=EP&NR=4268248A1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>NARASIMHADEVARA, Murali Tejo Vijay</creatorcontrib><creatorcontrib>SCHNEPF, Mark</creatorcontrib><creatorcontrib>BHAI, Nicholas N</creatorcontrib><creatorcontrib>PETROSKY, Lyman J</creatorcontrib><creatorcontrib>GLOVER, Jared</creatorcontrib><creatorcontrib>PARK, Joonwhee</creatorcontrib><creatorcontrib>LAPRESTI, Michael A</creatorcontrib><creatorcontrib>BROWN, Dane P</creatorcontrib><creatorcontrib>BRUCE IV, W. Edward</creatorcontrib><title>AUTONOMOUS PATH PLANNING AND PATH EXECUTION FOR DECONTAMINATION OF NUCLEAR POWER PLANT OBJECTS</title><description>A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system is disclosed. The decontamination system includes a platform, an imaging system, a robotic arm including an end effector configured to discharge a decontamination medium, and a control system operably coupled to the imaging system and the robotic arm. The method includes placing the object on the platform, scanning, by the imaging system, the object, generating, by the control system, a three-dimensional model of the object based on the scanned object, planning, by the control system, a decontamination path based on the generated three-dimensional model, controlling, by the control system, a position of the robotic arm according to the planned decontamination path, and discharging, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path.</description><subject>DECONTAMINATION ARRANGEMENTS THEREFOR</subject><subject>NUCLEAR ENGINEERING</subject><subject>NUCLEAR PHYSICS</subject><subject>PHYSICS</subject><subject>PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULARRADIATION OR PARTICLE BOMBARDMENT</subject><subject>TREATING RADIOACTIVELY CONTAMINATED MATERIAL</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2023</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNjMEKgkAQQPfSIap_mB_okEl4HdcxDZ1Z1lnqlEhspyjB_p_A-oBODx6PtzRXDCosrYQOHGoFrkHmmo-AXHwNXcgGrYWhFA8FWWHFtmacnZTAwTaEHpycyc8DBclPZLVbm8V9eExx8-PKQElqq20cX32cxuEWn_Hdk0uTQ5akGe72fyQf2XsyvA</recordid><startdate>20231101</startdate><enddate>20231101</enddate><creator>NARASIMHADEVARA, Murali Tejo Vijay</creator><creator>SCHNEPF, Mark</creator><creator>BHAI, Nicholas N</creator><creator>PETROSKY, Lyman J</creator><creator>GLOVER, Jared</creator><creator>PARK, Joonwhee</creator><creator>LAPRESTI, Michael A</creator><creator>BROWN, Dane P</creator><creator>BRUCE IV, W. 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Edward</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_EP4268248A13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng ; fre ; ger</language><creationdate>2023</creationdate><topic>DECONTAMINATION ARRANGEMENTS THEREFOR</topic><topic>NUCLEAR ENGINEERING</topic><topic>NUCLEAR PHYSICS</topic><topic>PHYSICS</topic><topic>PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULARRADIATION OR PARTICLE BOMBARDMENT</topic><topic>TREATING RADIOACTIVELY CONTAMINATED MATERIAL</topic><toplevel>online_resources</toplevel><creatorcontrib>NARASIMHADEVARA, Murali Tejo Vijay</creatorcontrib><creatorcontrib>SCHNEPF, Mark</creatorcontrib><creatorcontrib>BHAI, Nicholas N</creatorcontrib><creatorcontrib>PETROSKY, Lyman J</creatorcontrib><creatorcontrib>GLOVER, Jared</creatorcontrib><creatorcontrib>PARK, Joonwhee</creatorcontrib><creatorcontrib>LAPRESTI, Michael A</creatorcontrib><creatorcontrib>BROWN, Dane P</creatorcontrib><creatorcontrib>BRUCE IV, W. Edward</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>NARASIMHADEVARA, Murali Tejo Vijay</au><au>SCHNEPF, Mark</au><au>BHAI, Nicholas N</au><au>PETROSKY, Lyman J</au><au>GLOVER, Jared</au><au>PARK, Joonwhee</au><au>LAPRESTI, Michael A</au><au>BROWN, Dane P</au><au>BRUCE IV, W. Edward</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>AUTONOMOUS PATH PLANNING AND PATH EXECUTION FOR DECONTAMINATION OF NUCLEAR POWER PLANT OBJECTS</title><date>2023-11-01</date><risdate>2023</risdate><abstract>A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system is disclosed. The decontamination system includes a platform, an imaging system, a robotic arm including an end effector configured to discharge a decontamination medium, and a control system operably coupled to the imaging system and the robotic arm. The method includes placing the object on the platform, scanning, by the imaging system, the object, generating, by the control system, a three-dimensional model of the object based on the scanned object, planning, by the control system, a decontamination path based on the generated three-dimensional model, controlling, by the control system, a position of the robotic arm according to the planned decontamination path, and discharging, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path.</abstract><oa>free_for_read</oa></addata></record> |
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| language | eng ; fre ; ger |
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| subjects | DECONTAMINATION ARRANGEMENTS THEREFOR NUCLEAR ENGINEERING NUCLEAR PHYSICS PHYSICS PROTECTION AGAINST X-RADIATION, GAMMA RADIATION, CORPUSCULARRADIATION OR PARTICLE BOMBARDMENT TREATING RADIOACTIVELY CONTAMINATED MATERIAL |
| title | AUTONOMOUS PATH PLANNING AND PATH EXECUTION FOR DECONTAMINATION OF NUCLEAR POWER PLANT OBJECTS |
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