Microcontroller; Radiation; Radiation effects; Remote Handling; Robotics; Total ionizing dose; Nuclear Energy and Engineering
Abstract :
[en] Robotics applications are greatly needed in hazardous locations, e.g., fusion and fission reactors, where robots must perform delicate and complex tasks under ionizing radiation conditions. The drawback is that some robotic parts, such as active electronics, are susceptible to radiation. It can lead to unexpected failures and early termination of the robotic operation. This paper analyses the ionizing radiation effect from 0.09 to 1.5 Gy/s in robotic components (microcontrollers, servo motors and temperature sensors). The first experiment compares the performance of various microcontroller types and their actuators and sensors, where different mitigation strategies are applied, such as using Radiation-Hardened (Rad-Hard) microcontrollers or shielding. The second and third experiments analyze the performance of a 3-Degrees of Freedom (DoF) robotic arm, evaluating its componentsʼ responses and trajectory. This study enhances our understanding and expands our knowledge regarding radiationʼs impact on robotic arms and components, which is useful for defining the best strategies for extending the robotsʼ operational lifespan, especially when performing maintenance or inspection tasks in radiation environments.
Precision for document type :
Review article
Disciplines :
Engineering, computing & technology: Multidisciplinary, general & others
Author, co-author :
COLOMA CHACON, Sofia ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > Space Robotics ; Centre for Automation and Robotics (CAR) UPM-CSIC, Universidad Politécnica de Madrid, Spain
Espinosa Peralta, Paul ; Centre for Automation and Robotics (CAR) UPM-CSIC, Universidad Politécnica de Madrid, Spain
Redondo, Violeta ; Centre for Automation and Robotics (CAR) UPM-CSIC, Universidad Politécnica de Madrid, Spain
Moroño, Alejandro; Centre for Energy, Environmental and Technological Research (CIEMAT), Madrid, Spain
Vila, Rafael ; Centre for Energy, Environmental and Technological Research (CIEMAT), Madrid, Spain
Ferre, Manuel ; Centre for Automation and Robotics (CAR) UPM-CSIC, Universidad Politécnica de Madrid, Spain
External co-authors :
no
Language :
English
Title :
The effect of ionizing radiation on robotic trajectory movement and electronic components
Comunidad de Madrid European Social Fund European Regional Development Fund
Funding text :
The authors acknowledge the funding by the Community of Madrid , co-financed with Structural Funds ( ERDF and ESF )), through the TechnoFusión (III)-CM (S2018/EMT-4437) programme. The authors are also indebted to J. Valle and F. Jiménez for their help with the experiments.
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