Discussion of Teleoperation Support System Design Guideline for Working Robot in Radiation Narrow Environment

In this work, we propose a design guideline of teleoperation support system for working robots in radiation narrow environments. The proposed guideline is discussed to configure the robot system with as few sensors as possible because of decreasing the sensor failure risk by high radiation. This paper describes discussion results of the guideline candidate, focusing on relationship between the required information for robot teleoperation and number of sensors that consists of the support system. Additionally, we present some support systems that were developed for an inspection or an investigation of nuclear power plants as development cases. As a result of the guideline calculation for each development cases, we confirmed that the proposed guideline increases as the required radiation tolerance is high, and the support system is classified by the guideline. In case that the torelance is more than 200 Gy, available sensors are limited, and a sensor-saving configuration is adopted to decrease the robot failur risk by using in combination with a sensor for the robot operation.