O. S. Proskurin
Institute for Safety Problems of Nuclear Power Plants, NAS of Ukraine, 36a, Kirova St., Chornobyl, 07270, Ukraine
Institute of Mathematical Machines and Systems Problems, NAS of Ukraine, 42, Akademika Hlushkova Ave, Kyiv, 03680, Ukraine
https://orcid.org/0009-0007-3173-6327
DOI: doi.org/10.31717/2311-8253.26.1.7
Abstract
The problem of extracting lava-like fuel-containing materials (LFCM) from the Shelter object is characterized by extreme radiation conditions (up to 103 −104 R/h) and complex facility geometry. Traditional teleoperation of robotic systems faces challenges of low operator situational awareness, high cognitive load, and a significant risk of error. Closed, proprietary systems further complicate integration and adaptation.This paper proposes a novel distributed architecture concept for automating remote operations, based on the open-source Robot Operating System (ROS2) framework. The system features a separation of computational levels: a high-performance central server in a safe zone for planning, navigation, and data processing tasks, and radiation-hardened microcontrollers (utilizing micro-ROS) directly on the actuator modules. A hybrid navigation approach is proposed, combining SLAM and AMCL methods, EKF/UKF filtering, and an innovative position correction mechanism based on Digital Twin Alignment. The results of an intermediate experimental validation of the concept on a functional prototype are presented, confirming the architecture’s viability and the reliability of the communication stack (micro-ROS).
Keywords: Shelter object, LFCM, ROS, robotic systems, digital twin, SLAM, remote operation.
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