Year
2017
Abstract
Oregon State University’s School of Nuclear Science and Engineering (NSE) is partnering with our Robotics Program to investigate the suitability of soft robotics for nuclear safeguard applications. Robotics are particularly valuable for use in high radiation environments, access to areas not suitable for humans, redundant tasks, and areas that are difficult to reach. 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. OSU Robotics is focusing on designing a soft robotic arm that can operate under water with integrated touch and deformation sensors to enable closed-loop control of grasping and turning. Control software is also being developed to allow for remote operation of the system. The design goals for the robotic platform include the ability to grasp and turn knobs smaller than 20 cm with torques above 1 Nm, and to capture an image with an embedded optical sensor. Concurrent with the design of the soft robotic manipulator, the School of Nuclear Science and Engineering is 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. Ultimately the research demonstration will provide a range of capabilities for deployment of this concept into areas that may benefit the IAEA and increase the efficiency or efficacy of safeguards measures.