Development of a Multi-Robot System for Autonomous Inspection of Nuclear Waste Tank Pits

Abstract

Featured Application: The Autonomous Pit Exploration System (APES) project is designed to revolutionize the inspection of nuclear waste-storage tank pits using an advanced multi-robot system. This system aims to enhance safety and efficiency in nuclear waste management by providing a robust solution for the detailed inspection of storage tanks. The project is structured in three phases, focusing on data collection, mechanical design, and system integration, culminating in rigorous testing at the Idaho National Laboratory. Utilizing a telescopic arm for superior reach and an electric vehicle (EV) pickup truck for safe, long-duration operations, APES ensures coordinated robot operations via a master control package and digital twin models. Preliminary tests have successfully demonstrated the system’s capabilities in tasks such as Simultaneous Localization and Mapping (SLAM) and generating detailed point cloud maps, validating both hardware and software designs. This innovative approach promises significant improvements in the inspection process, reducing risks and enhancing precision in monitoring nuclear waste storage. This paper introduces the overall design plan, development timeline, and preliminary progress of the Autonomous Pit Exploration System project. This project aims to develop an advanced multi-robot system for the efficient inspection of nuclear waste-storage tank pits. The project is structured into three phases: Phase 1 involves data collection and interface definition in collaboration with Hanford Site experts and university partners, focusing on tank riser geometry and hardware solutions. Phase 2 includes the selection of sensors and robot components, detailed mechanical design, and prototyping. Phase 3 integrates all components into a cohesive system managed by a master control package which also incorporates digital twin and surrogate models, and culminates in comprehensive testing and validation at a simulated tank pit at the Idaho National Laboratory. Additionally, the system’s communication design ensures coordinated operation through shared data, power, and control signals. For transportation and deployment, an electric vehicle (EV) is chosen to support the system for a full 10 h shift with better regulatory compliance for field deployment. A telescopic arm design is selected for its simple configuration and superior reach capability and controllability. Preliminary testing utilizes an educational robot to demonstrate the feasibility of splitting computational tasks between edge and cloud computers. Successful simultaneous localization and mapping (SLAM) tasks validate our distributed computing approach. More design considerations are also discussed, including radiation hardness assurance, SLAM performance, software transferability, and digital twinning strategies.