Abstract

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.

中文翻译：

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IBR-2反应堆辐照设施高放射性样品运输自动化系统

摘要

本文介绍了IBR-2反应器第三束控制区中高剂量样品的剂量率和运动测量过程自动化的结果。对基于带有视频监控系统和距离测量的机械手的自动化系统的选择进行了详细的分析，并确定了用于确定剂量率代替其操作位置的剂量学综合体。详细描述了构造算法和程序来控制机器人的过程。已经确定，该系统在高电离辐射领域中不间断且可靠地运行。从事这项工作时几乎能够完全替代一个人；最重要的是，最多-27个。