Simple Teleoperator System for Gamma Radiation Decontamination

摘要

Bellow the simple laboratory teleoperator system for decontamination from injurious gamma radiation sources is presented. The system is low cost and it is dedicated to use it in a small workspace to significantly reduce the risk of human injury associated with handling radioactive materials. The industrial robot IRp-6 has been employed as the tele-manipulator. Its control panel has been replaced with a PC and the manipulator end-effector has been equipped with a special designed module. The module consists of a few simple tools needed to monitor and clean surfaces menaced by radiation impurities. The Geiger- Muller sensor for gamma radiation detection is employed and a vacuum-cleaner mechanism has been used to suck radioactive particles by the air stream to the container. A standard computer input device has been utilized as the force sensor for positioning the module in relation to the examined surface. All functions of the decontamination system are aided by proper software routines.