Speaker
Ms
Amanda Rynes
(Idaho National Laboratory)
Description
To improve inspection capabilities, limit radiation exposition to inspectors, and minimize the
number of repetitive tasks that are done by hand in a growing number of facilities the IAEA has
welcomed the investigation of robotics for safeguards applications. Traditional hard robotics
have long been employed in the nuclear field, however electronic failure in high radiation
environments can severely limit operating time. The developing field of advanced soft robotics,
which employs soft materials, such as silicone polymers, and soft actuators, such as liquid
metals, has the potential to leverage the capabilities of remote technologies while minimizing
the failure rate common to hard robotics. Idaho National Laboratory has partnered with Oregon
State University’s (OSU) School of Nuclear Science and Engineering (NSE) and Oregon State
Universities Robotics departments to develop and test a prototype soft robotic arm for
international safeguards applications. The soft robotics manipulators under investigation offer
significant dexterity and mechanical compliance with high degrees-of-freedom, allowing for
large contact-area, multi-point gripping, which is particularly advantageous for grasping and
emplacing objects.1 This technology has potential applicability in a range of safeguards
inspection tasks, including tag and seal application, environmental sampling and spent fuel
verification. The research currently underway at Oregon State University includes the design and
construction of a prototype soft robotic arm that can operate under water with integrated touch
and deformation sensors to enable closed-loop control of grasping and turning. Testing of the
material includes examining the effects of high radiation environments on the system
components including: impacts to system function, potential activation of the effector, material
degradation with exposure to various radiation fields, and the potential for material reuse.
| Topics | TEC5 |
|---|---|
| Which "Key Question" does your Abstract address? | TEC5.1 |
Primary author
Ms
Amanda Rynes
(Idaho National Laboratory)
Co-authors
Dr
Camille Palmer
(Oregon State University)
Dr
Geoffrey Hollinger
(Oregon State University)
Mr
Osman Dogan Yirmibesoglu
(Oregon State University)
Mr
Sean Morrell
(Oak Ridge National Laboratory)
Mr
Taylor Courier
(Oregon State University)
Mr
Tyler Oshiro
(Oregon State University)
Dr
Yigit Menguc
(Oregon State University)
