In full accordance to the nature of the work area and the work
itself, chores are carried out remotely from the operations center
installed some 30 meters distant.
Work in progress and tools are filmed by video cameras. Sensors
and servomechanisms convey data and provide for the control of
operation variables.
After the initial engineering stage was complete, work on REMA-1
involved three main chores, as follows:
1. Special development
- Two Cartesian robots (manual remote control, automatic, semi-automatic
or programmable master-slave manipulators) equipped with a set
of devices and specially developed tools for cleaning, maintenance
and eventual repair services.
- Fixed water and mobile biological shielding (easily transportable)
for the reduction of radiation doses associated with the preparation
and adjustment of tools.
- Rigidizers and devices to move piping.
- System of carts mounted on rails and accessories to support
and transport the exchanger parts (over 1000 kg in weight).
- Control software and programs for the robots, the master-slave
manipulators and for the automatic TIG welding system.
- Work-plan and procedures to carry out tasks.
- Procedure for the utilization of tools and devices
2. Integration of the tool set
All these specially designed devices and tools were integrated
with other standard tools, to make up a set of automatic or
semi-automatic cutting and welding tools which is solid, easy
to apply and reliable. The tool set was developed together with
the firm Tri Tool (Sacramento, California,
USA) which contributed with cutting tools of its own production
and welding tools made by the French firm they represent, Polysoude.
The scope of provision included all the necessary - and sometimes
redundant tools. It also included alternate ways of work or
assembly for the cutting, beveling (preparation) and welding
of drainage and ventilation piping (diameters under 30mm), and
the piping of the primary cooling circuit (diameter 230mm and
270mm and wall thickness from 19 to 32mm).
This specialized tool kit included stud cutting, cutting and
welding of omega-type seal, the preparation and welding of tubes.
3. Simulator and Training
The simulator was built at the training center "Centro
de Capacitación Dr. Oscar S Melillo" of
Nucleoeléctrica Argentina S.A. located
at LIMA (Prov. Of Buenos Aires), near to the
CNA-1. This simulator reproduces the work-area
of the coolers and all the surrounding components and structures.
The simulator was built in an area that was specially assigned
to it. The simulator duplicates all the conditions and all the
tasks and operations that have to be carried out in these conditions.
It features the exact same cramped workspace, and reproduces
the difficult access. The only difference with the real thing
is that there is no radioactivity.
In March and May 1997 a group of Nucleoeléctica
Argentina S.A. staff took courses and trained in the
specialties of Assembly and Movements, Cutting and Welding and
Master-Slave Manipulating.
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Technical
Description