RICA'S evolutions

The CEA express the need to investigate blind cells with a high level of radiation so where human can’t survive. The RICA project is born. It is named RICA for “Robot d’Inspection de Cellule Aveugle” which means blind cells inspection robot. This robot will be modified to cover new needs indeed by the investigation of new cells and different modules to carry. In this article we will review the three previous RICA version which conduct to our project the RICA IV.

RICA I

To create the RICA I the CEA work with CYBERIA to modify “HUGGY” robot and adapt it to the nuclear environment. It also have to be modified to manage the camera and to add a radiation level censor.

The RICA I is divided in two sub-systems: the motorisation and the camera bloc.

A wheel have been added under the camera to ensure a good mobility on flat ground and allow the pilot to take picture of all the blind cells.

This robot have been used in April 2007 in order to examine a cell and especially tanks which contain radioactive products. The RICA I is narrow because for this inspection it was introduce in the cell through a coring.

After this inspection the CEA express new needs. It appears that the wheel under the camera bloc is not enough efficient and the robot have to be more mobile with better crossing capabilities. It was also very difficult to decontaminate the wheels and the coaxial cable. So new technical solutions have to be found.

RICA II

The RICA II is the improved version of the RICA I and take into account feedbacks from previous inspections.

The RICA II is still composed of two sub-systems: the camera bloc and the motorisation. But now the difference is that these two parts are assembled to form a tank.

At the end of 2007 several tests have been done and the RICA II satisfied the new requirements of the CEA.

RICA III

The RICA III is also an evolution of the RICA I and II. You can find a precise description of this robot on our blog, please follow this LINK.

This robot was made because the CEA need to inspect other blind cells with difficult access and because they want to carry more precise camera or a robotic arm.  So the crossing and the transportation capabilities of the RICA II was sufficient.

RICA IV

The RICA III is aging and in operation for more than eight years now so the needs of the CEA have changed and the RICA III performances are not sufficient.

That’s why the CEA request them to improve RICA robot and create the version IV. The first goal is to improve crossing capabilities. The RICA IV have to cross obstacles in step configuration with the following dimensions:

This robot also have to go under an obstacle which is 30 cm from the ground, it have to transport heavy sub-systems (gamma camera, robotic arm, …), these sub-systems need to be easily changed, it can’t weigh more than 100 kg, have to resist from important radiation, the command system have to be improved to be more ergonomic, etc. This robot will be used in a very aggressive place with a lots of constraints which lead to a complex design.

So our work will be difficult for this project and we need robust methods to design this new robot like system engineering and all the expertise of our school.