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atw 2018-05v6

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<strong>atw</strong> Vol. 63 (<strong>2018</strong>) | Issue 5 ı May<br />

suggestions from European Utility<br />

Requirements (EUR), WENRA safety<br />

reference levels, and IAEA introduction<br />

of the DEC term and concept into<br />

the safety standards series. Examples<br />

of a use of this approach for Dukovany<br />

and Temelín safety analyses have been<br />

presented.<br />

The programme for severe accidents<br />

for Czech NPPs is very extensive,<br />

this contribution included mainly the<br />

activities related to the Temelín NPP,<br />

but also the Dukovany NPP has own<br />

program and activities related to the<br />

topic of severe accident. The common<br />

for both NPPs and not yet mentioned<br />

is the training of the staff. The UJV<br />

supports both NPPs for longer time<br />

with special lessons on the progress of<br />

the severe accident and impact of an<br />

application of measures to the SA<br />

course. Recently the new tool for the<br />

training is close to the completion, it is<br />

named VINSAP (Visualization of NPP<br />

Severe Accident Progress for Training<br />

on SAM), the project is sponsored<br />

by the Technology Agency of Czech<br />

Republic (project no. TH01011086).<br />

References<br />

[A]<br />

National Report on “Stress Tests” of NPP<br />

Dukovany and NPP Temelín, Czech<br />

Republic, December 2011.<br />

[B]<br />

[C]<br />

Authors<br />

National Action Plan (NAcP) on<br />

Strenghtening Nuclear Safety of<br />

Nuclear Facilities in the Czech Republic,<br />

State Office for Nuclear Safety, rev2,<br />

Jan 6, 2015.<br />

SUJB directive BN-JB-1.7, Selection and<br />

Assessment of Design and Beyond<br />

Design Events and Risks for Nuclear<br />

Power Plants, 2010.<br />

J. Duspiva<br />

J. Holy<br />

P. Kral<br />

M. Patrik<br />

UJV Rez, a.s.<br />

Hlavni 130<br />

25068 Rez, Czech Republic<br />

E. Hofmann<br />

CEZ, a.s.<br />

Duhova 2<br />

14000 Prague, Czech Republic<br />

Applications of Underwater-Robotics<br />

in Nuclear Power Plants<br />

OPERATION AND NEW BUILD 305<br />

Gunnar Fenzel, Dr. Dietmar Nieder and Alexandra Sykora<br />

1 Research project AZURo Cutting and packing of the reactor pressure vessel (RPV) is one important step<br />

during decommissioning of nuclear power plants. The RPV and its internals are radiological activated caused by the<br />

long standing neutron flux.<br />

In particular the internals which –<br />

amongst others – retained the fuel assemblies<br />

have to be cut and packed<br />

under water due to their high radiological<br />

activity. In the past this was<br />

largely done manually using remote<br />

handled tools (such as rods, grippers<br />

and cranes). The operation of the<br />

remote handled tools is time consuming<br />

and enables access to the respective<br />

parts by one direction only. Thus<br />

the accessibility is strongly restricted<br />

slowing down the progress of the<br />

work. Hence the costs of the decommissioning<br />

are highly increased. In<br />

addition, the risk of failures is<br />

enlarged by the inflexibility of the<br />

tools. Moreover and due to the<br />

complex proceeding, the workers<br />

are exposed to a certain radiation<br />

level leading finally to an averaged<br />

increased radiation exposure.<br />

Therefore, it was the objective of<br />

the research project Automated Cutting<br />

of Reactor Pressure Vessels Internals<br />

Using Underwater-Robotics (AZURo) to<br />

(semi-) automate frequently repeated<br />

activities by an underwater robot.<br />

This joint research project was<br />

sponsored by the German Federal<br />

Ministry of Education and Research<br />

(BMBF). It was executed together with<br />

Fraunhofer-Einrichtung für Gießerei-,<br />

Composite- und Verarbeitungstechnik<br />

IGCV. The project AZURo started in<br />

2012 and was finished in 2016.<br />

The highest degree of innovation is<br />

given in the research of the application<br />

of industrial robot systems under<br />

water and in radiation fields. Thereby<br />

there is no direct contact possible,<br />

neither with the robot itself nor with<br />

the workstation. All works at the<br />

system have to be performed remotely<br />

monitored respectively remotecontrolled.<br />

Key aspects of the development<br />

were remote control of the<br />

system, optical monitoring and the<br />

development of an intuitively<br />

designed simulation ambience with<br />

automated path planning.<br />

Arm of robot<br />

Total mass<br />

max. load<br />

The system supports the operator in<br />

planning and execution as well as in<br />

handling steps but ensures the control<br />

of a human being at all times. Just as<br />

well the nuclear requirements such as<br />

intervention capability, reproduc ibility<br />

and health physics aspects during<br />

developing have to be con sidered.<br />

2 Advantages of AZURo<br />

The (semi-)automation of cutting and<br />

packing activities by means of robots<br />

will lead to<br />

• a reduction of the local radiation<br />

exposure of the involved staff,<br />

• a shortening of the performance<br />

times of cutting and packing of<br />

highly activated components,<br />

• a lowering of costs for such projects,<br />

and<br />

Approx. 1,100 kg<br />

150 kg<br />

Protection class IP 68<br />

Working space (spherically) without tools, max.<br />

Working space (spherically) with tools, max.<br />

| | Tab. 1.<br />

Technical Data.<br />

Ø 2,194 mm<br />

Ø 2,764 mm<br />

Operation and New Build<br />

Applications of Underwater-Robotics in Nuclear Power Plants ı Gunnar Fenzel, Dr. Dietmar Nieder and Alexandra Sykora

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