Abstract: As part of the ROBDEKON [1] project, the Karlsruhe Institute of Technology’s Institute for Technology and Management in Construction (KIT-TMB) is developing a robotic system designed to position two specialized tools for the decontamination and clearance measurement of concrete walls in nuclear power plants. To achieve this, a Manitou 100-VJR lifting platform has been retrofitted with essential electronic components including controllers, sensors, actuators, communication modules, and safety systems transforming it into a robotic system known as “DekontBot” [2]. In addition to the robotic platform, an automatic milling tool and an automated contamination array have been developed as tools for decontamination and clearance measurement. The system supports operation in both teleoperation and (semi-)autonomous modes. Two graphical user interfaces have been developed, one for the DekontBot and another for the contamination array. These GUIs enable intuitive control and real-time visualization of system operations using RViz2 on the ROS2 platform, allowing users to operate the systems in a user-friendly and accessible manner. This paper presents a detailed account of the development and implementation of the DekontBot, the milling tool, and the contamination array.

Keywords: Robotic, Automation, Decontamination, PLC, Robot operating system (ROS), Nuclear power plant (NPP), Clearance measurement.

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