Mobile Manipulation Robotic System OMAR is designed for emergency operations in the main power generating area and nuclear fuel storage area of nuclear power plant. It can be also used in the chemical plants and other "hazardous environment" industries.

Designation

1. On-spot inspection of the environment with the help of two colour video cameras, microphone and special attached equipment:
   • gas-analyser
   • dosimeter
   • X-ray gamma detector, etc.
2. Delivery and operation of special-purpose equipment (gas-dynamic sputtering, etc.)
3. Capture and transportation of hazardous objects
4. Preparation of bulky and heavy objects for displacement with hoists or cranes

Composition and technical characteristics

Transport Module

• Six-wheel, full-time drive mover.
• Air-tight and water-resistant casing of stainless steel
• Variable speed from 0 up to 0.3 m/c
• Negotiable rake angle - not less than 30°.
• Negotiable obstacle height - not less than 0.1 m

Manipulator

• 5 degrees of movement.
• Carrying capacity - not less than 10 kg.

Two survey TV3-70L video cameras

• Resolving capacity - not less than 450 TV lines.
• Built-in halogen lights.
• Pan & Rotate unit.
• Focusing driving gear.

TV5-30L Technological video camera (mounted on the cleat)

• Resolving capacity - not less than 330 TV lines.
• Built-in LED lights.

Operation Console:

• 15" Colour monitor.
• Possibility of input for text data and superimposing it over the video signal.
• VCR recording option.
• Portable control desk.

Mobile Manipulation Robot OMAR
with manipulator

Cleats of the manipulator

TV3-70L video camera

Operation console
for "OMAR" system

The robot can function either autonomously (battery capacity of 60 Ah, operational control over radio channel and two television channels) or via 300 m long cable. The cable is wound on electric BK-2M cable drum with driving gear and metering device.
All parts of the robot are made of corrosion-resisting materials and airtight.

Radiation resistance of the transport module and manipulator:

• Maximum permissible gamma-radiation dose of not less than 1,33*10 4 X-ray per hour.
• Integral dose - 10 6 X-rays.

Radiation resistance of video cameras:

• Maximum permissible gamma-radiation dose of not less than 1,33*10 4 X-ray per hour.
• Integral dose - 4*10 6 X-rays.

Gas-dynamic Sputtering System

OMAR Robotic System can utilize gas-dynamic sputtering technique for applying metallic powder onto local cracks for eliminating damages in steel pipelines and on steel surfaces.
The Robot with mounted gas-dynamic sputtering system approaches the site. The operator exercises remote control over the sputtering process with the help of a sputtering nozzle that has 5 degrees of movement, direct video control, distance measuring device and target designation. Operator's software installed on OMAR'sCD1 working station provides with additional abilities. It allows the operational control in the frame of reference both of sputtering nozzle and manipulator.

Principle of sputtering operation of OMAR Robotic System

Technical specifications of the sputtering process:

• Damage sputtering is carried out under normal atmosphere pressure, at any temperature and with any atmospheric air humidity.
• Technology is ecologically friendly (there are no high temperature, no dangerous gases and radiation, no aggressive chemical waste products that require special extra neutralization work).
• Technology does not require heating of the sputtered object or site.
• If there is no corrosion or scale at the damaged site, then there is no need for through preparation work for the surface (the surface is cleaned and lattice is activated under the impact of the supersonic particle torrent).
• The sputtered particle torrent has a narrow beam and a small cross-section. This allows local repair of any object's surface.
• During the sputtering process the heating impact over the repaired site is insignificant.
• Multicomponent covering with variable thickness component structure could be applied.
• The equipment allows micro jet-abrasive treatment of the surface for the following application of sputtering material.
• types of sputter coverings could be applied.
• High adhesion (30-80).
• High cohesion (30-80).
• Homogeneity of coverings.
• Low porosity.
• Tough joining of the covering with the sputtered surface without gaps or cavities, with reliable electro-galvanic contact of the covering and surface.
• Surface roughness is R z =20-40 and provides high fixing with paintwork material.
• Thickness could be variable and is provided with a certain technological sputtering mode.
• Restored surface area can be treated with any type of mechanical treatment.
• The sputtering technique can be applied onto the surface of any metallic object as well as ceramic and glass object.