​Abstract: As part of the ROBDEKON [1] project, KIT-TMB is developing a robotic system for positioning two tools used in the decontamination and clearance measurement of concrete walls in nuclear power plants. To achieve this, a lifting platform (Manitou 100-VJR) was equipped with the necessary electronics-including controllers, sensors, actuators, communication modules, and safety systems-and converted into the robotic system “DecontBot” [2]. The machine can be operated in both teleoperation and (semi-)autonomous modes. Additionally, a graphical user interface (GUI) was designed for the DecontBot, allowing users to visualize the system in RViz2 on ROS2 and operate it in an intuitive, user-friendly manner. The DecontBot has been tested and evaluated by various personnel working in nuclear environments to gather feedback. This article provides a detailed description of the development steps of the DecontBot.

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

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