Abstract: A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system is disclosed. The decontamination system includes a platform, an imaging system, a robotic arm including an end effector configured to discharge a decontamination medium, and a control system operably coupled to the imaging system and the robotic arm. The method includes placing the object on the platform, scanning, by the imaging system, the object, generating, by the control system, a three-dimensional model of the object based on the scanned object, planning, by the control system, a decontamination path based on the generated three-dimensional model, controlling, by the control system, a position of the robotic arm according to the planned decontamination path, and discharging, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path.

Abstract: A method of decontaminating an object removed from a nuclear power plant utilizing a decontamination system is disclosed. The decontamination system includes a platform, an imaging system, a robotic arm including an end effector configured to discharge a decontamination medium, and a control system operably coupled to the imaging system and the robotic arm. The method includes placing the object on the platform, scanning, by the imaging system, the object, generating, by the control system, a three-dimensional model of the object based on the scanned object, planning, by the control system, a decontamination path based on the generated three-dimensional model, controlling, by the control system, a position of the robotic arm according to the planned decontamination path, and discharging, by the end effector, the decontamination medium onto the object at a plurality of positions along the planned decontamination path.

Abstract: Three dimensional (3D) scanning including dynamic detector pose identification utilizing fiducials is provided. Two or more fiducials are operatively coupled to a first body. Configuration data is provided with an identifier and a first position of the two or more fiducials. A detector captures 3D data of the first body. A creator identifies at least two fiducials within the captured 3D data. The creator determines a first observed position of each identified fiducial relative to the detector and compares the first observed position to the configuration data. The creator dynamically identifies the pose of the detector relative to the first body based on the comparison and augments the 3D data with first pose data corresponding to the first pose of the detector. The pose of the detector relative to the body may be undefined and/or unknown during the capture of 3D data without affecting the quality of the model produced from the captured 3D data.

Abstract: Three dimensional (3D) scanning including dynamic detector pose identification utilizing fiducials is provided. Two or more fiducials are operatively coupled to a first body. Configuration data is provided with an identifier and a first position of the two or more fiducials. A detector captures 3D data of the first body. A creator identifies at least two fiducials within the captured 3D data. The creator determines a first observed position of each identified fiducial relative to the detector and compares the first observed position to the configuration data. The creator dynamically identifies the pose of the detector relative to the first body based on the comparison and augments the 3D data with first pose data corresponding to the first pose of the detector. The pose of the detector relative to the body may be undefined and/or unknown during the capture of 3D data without affecting the quality of the model produced from the captured 3D data.