Automation System for Transporting Highly Radioactive Samples of the Irradiation Facility of the IBR-2 Reactor

摘要

This paper presents the results of an automation of the processes of measuring the dose rate and movement of highly active samples in the controlled zone of the third beam of the IBR-2 reactor. A detailed analysis of the choice of an automated system based on a robotic manipulator with a video-surveillance system and distance measurement, as well as a dosimetric complex for determining the dose rate in the place of its operation, has been carried out. The processes of constructing algorithms and programs to control the robot are described in detail. It has been established that the system operates uninterruptedly and reliably in the fields of high ionizing radiation; is capable of almost completely replacing a person when performing such a work; and, most importantly, significantly—up to 27.4%—reduces the annual dose received by personnel during operation.