{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,4,1]],"date-time":"2023-04-01T04:17:47Z","timestamp":1680322667602},"reference-count":14,"publisher":"Walter de Gruyter GmbH","issue":"10","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2022,10,26]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>The number of decommissioning projects related to nuclear power plants is increasing and has been regarded as a challenging task for many nations. For example, Germany has decided to phase out nuclear power plants by the year 2022. To reduce the hazardous potential and the personal radiation exposure of the employees, robotic support in the decommissioning process is needed. In this contribution, a robot-based closed chain is presented as an important component for an automation and digitalization of the dismantling process of a nuclear power plant. The focus of the chain is on the investigation and decontamination of flat wall areas in nuclear facilities. First, geometric and radiation data are collected autonomously with a mobile, agile robot. The collected data is processed by using Building Information Modelling (BIM) methods to support the following steps. A second, industrial platform is modified to enable the positioning of two developed tools, a milling tool, and a contamination array, which will be used for decontamination and clearance measurement of concrete surfaces.<\/jats:p>","DOI":"10.1515\/auto-2022-0058","type":"journal-article","created":{"date-parts":[[2022,10,27]],"date-time":"2022-10-27T20:21:05Z","timestamp":1666902065000},"page":"900-911","source":"Crossref","is-referenced-by-count":0,"title":["From environmental exploration to clearance measurement \u2013 developing mobile robot systems for decommissioning of nuclear power plants"],"prefix":"10.1515","volume":"70","author":[{"given":"Ziyuan","family":"Chen","sequence":"first","affiliation":[{"name":"Karlsruhe Institute of Technology (KIT), Institute for Technology and Management in Construction (KIT-TMB) , Karlsruhe , Germany"}]},{"given":"Sascha","family":"Gentes","sequence":"additional","affiliation":[{"name":"Karlsruhe Institute of Technology (KIT), Institute for Technology and Management in Construction (KIT-TMB) , Deconstruction and Decommissioning of Conventional and Nuclear Buildings , Karlsruhe , Germany"}]},{"given":"Dennis","family":"Hartmann","sequence":"additional","affiliation":[{"name":"Karlsruhe Institute of Technology (KIT), Institute for Anthropomatics and Robotics (KIT-IAR) , Karlsruhe , Germany"}]},{"given":"Bj\u00f6rn","family":"Hein","sequence":"additional","affiliation":[{"name":"Karlsruhe University of Applied Sciences, Robotics andAutonomous Systems Research Group (iRAS) , Karlsruhe , Germany"}]},{"given":"Siavash","family":"Kazemi","sequence":"additional","affiliation":[{"name":"Karlsruhe Institute of Technology (KIT), Institute for Technology and Management in Construction (KIT-TMB) , Karlsruhe , Germany"}]},{"given":"Alena","family":"Wernke","sequence":"additional","affiliation":[{"name":"Karlsruhe Institute of Technology (KIT), Institute for Technology and Management in Construction (KIT-TMB) , Karlsruhe , Germany"}]}],"member":"374","published-online":{"date-parts":[[2022,10,28]]},"reference":[{"key":"2023033111224384748_j_auto-2022-0058_ref_001","unstructured":"Bundesministerium f\u00fcr Bildung und Forschung (BMBF), Forka \u2013 Forschung F\u00fcr Den R\u00fcckbau Kerntechnischer Anlagen: F\u00f6rderkonzept: R\u00fcckbau Und Entsorgung, Bonn, Bundesministerium f\u00fcr Bildung und Forschung (BMBF), Referat Stilllegung, R\u00fcckbau und Entsorgung Kerntechnischer Versuchsanlagen, 2017."},{"key":"2023033111224384748_j_auto-2022-0058_ref_002","unstructured":"S. Gentes, A. Aminy, N. Gabor, and S. Reinhardt, Internationale R\u00fcckbautechniken und Managementmethoder f\u00fcr kerntechnische Anlagen \u2013 Eine wissenschaftliche Analyse aufbauend auf dem internationalen Stand der Technik (IRMKA), Endbericht der Forschungsprojekts mit dem F\u00f6rderkennzeichen, 2015, p.\u00a002S8851."},{"key":"2023033111224384748_j_auto-2022-0058_ref_003","unstructured":"J. F. Sch\u00fcler, Digitalisierung der Informationskette f\u00fcr R\u00fcckbauplanungen von Atom- und Kernkraftwerken unter Ber\u00fccksichtigung der Building Information Modeling(BIM) \u2013 Methode, Dresden, Technische Universit\u00e4t Dresden, 2019."},{"key":"2023033111224384748_j_auto-2022-0058_ref_004","unstructured":"International Atomic Energy Agency, State of the Art Technology for Decontamination and Dismantling of Nuclear Facilities, Technical Reports Series, 1999."},{"key":"2023033111224384748_j_auto-2022-0058_ref_005","unstructured":"T. G\u00f6hlich, \u201cMeasurement technology for the radiological evaluation of building structures,\u201d 2020. Available at: https:\/\/www.nuviatech-instruments.com\/de\/messtechnik-fuer-die-radiologische-bewertung-von-gebaeudestrukturen\/ [accessed: Dec. 09, 2021]."},{"key":"2023033111224384748_j_auto-2022-0058_ref_006","doi-asserted-by":"crossref","unstructured":"T. C. Detert. \u201cBots2ReC: introducing mobile robotic units on construction sites for asbestos rehabilitation.\u201d Constr. Robot., vol.\u00a01, pp.\u00a029\u201337, 2017. https:\/\/doi.org\/10.1007\/s41693-017-0007-1.","DOI":"10.1007\/s41693-017-0007-1"},{"key":"2023033111224384748_j_auto-2022-0058_ref_007","doi-asserted-by":"crossref","unstructured":"Lehtola, VV, H. P. Kaartinen, \u201cComparison of the selected state-of-the-Art 3D indoor scanning and point cloud generation methods,\u201d Remote Sens., vol.\u00a09, no.\u00a08, p.\u00a0796, 2017. https:\/\/doi.org\/10.3390\/rs9080796.","DOI":"10.3390\/rs9080796"},{"key":"2023033111224384748_j_auto-2022-0058_ref_008","doi-asserted-by":"crossref","unstructured":"A. Bircher, M. Kamel, K. Alexis, H. Oleynikova, and R. Siegwart, \u201cReceding horizon \u201cNext-Best-View\u201d planner for 3D Exploration,\u201d in IEEE International Conference on Robotics and Automation (ICRA), 2016, pp.\u00a01462\u20131468.","DOI":"10.1109\/ICRA.2016.7487281"},{"key":"2023033111224384748_j_auto-2022-0058_ref_009","doi-asserted-by":"crossref","unstructured":"A. Borrmann, M. K\u00f6nig, C. Koch, and J. Beetz, Building Information Modeling: Technologische Grundlagen und industrielle Praxis. (1. Ausg.), Wiesbaden, Springer, 2015.","DOI":"10.1007\/978-3-658-05606-3_1"},{"key":"2023033111224384748_j_auto-2022-0058_ref_010","unstructured":"Manitou BF SA (kein Datum), Technical Data Sheet, Ancenis, France, Manitou 100VJR, 2021."},{"key":"2023033111224384748_j_auto-2022-0058_ref_011","unstructured":"S. Bruno, O. Khatib, and T. Kr\u00f6ger, Handbook of Robotics (200. Ausg.), Berlin, Springer, 2008."},{"key":"2023033111224384748_j_auto-2022-0058_ref_012","unstructured":"S. Thierfeldt and F. Schartmann, Stilllegung und R\u00fcckbau kerntechnischer Anlagen: Erfahrungen und Perspektiven (4. Ausg.), Aachen, Erstellt im Auftrag des Bundesministeriums f\u00fcr Bildung und Forschung (BMBF) durch die Brenk Systemplanung GmbH, 2012."},{"key":"2023033111224384748_j_auto-2022-0058_ref_013","unstructured":"Ministerium f\u00fcr Umwelt, Klima und Energiewirtschaft Baden-W\u00fcrttemberg, Leitfaden zur Freigabe nach Teil 2 Kapitel 3 der Strahlenschutzverordnung, Stuttgart, Ministerium f\u00fcr Umwelt, Klima und Energiewirtschaft Baden-W\u00fcrttemberg, 2020."},{"key":"2023033111224384748_j_auto-2022-0058_ref_014","unstructured":"ISO\/TC 85\/SC 2, Bestimmung der Radioaktivit\u00e4t Messung und Bewertung der Oberfl\u00e4chenkontamination \u2013 Teil 1: Allgemeine Grundlagen (ISO 7503-1:2016). Measurement of radioactivity \u2013 Measurement and evaluation of surface contamination, DIN ISO 7503-1:2017-12 (VDE 0493-2-5031:2017-12), 2017."}],"container-title":["at - Automatisierungstechnik"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2022-0058\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2022-0058\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,3,31]],"date-time":"2023-03-31T14:37:52Z","timestamp":1680273472000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyter.com\/document\/doi\/10.1515\/auto-2022-0058\/html"}},"subtitle":["Von der Umgebungsexploration bis zur Freimessung \u2013 Entwicklung mobiler Robotersysteme f\u00fcr den R\u00fcckbau kerntechnischer Anlagen"],"short-title":[],"issued":{"date-parts":[[2022,10,1]]},"references-count":14,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2022,10,28]]},"published-print":{"date-parts":[[2022,10,26]]}},"alternative-id":["10.1515\/auto-2022-0058"],"URL":"https:\/\/doi.org\/10.1515\/auto-2022-0058","relation":{},"ISSN":["2196-677X","0178-2312"],"issn-type":[{"value":"2196-677X","type":"electronic"},{"value":"0178-2312","type":"print"}],"subject":[],"published":{"date-parts":[[2022,10,1]]}}}