Position sensing for advanced teleoperation in nuclear environment

Advanced teleoperation requires an autonomous perception capability of the remote operated equipment. This perception complements the vision information provided to the operator by cameras and allow for computer controlled task execution. An important part of this perception is obtained through position sensors. However, for nuclear applications, severe environmental restrictions, in particular w.r.t. radiation, limits the choice of such components. This paper discuss the specific requirements for these sensors, the possible solutions and their availability. Particular attention is put on the internal position sensors of the teleoperated machines, and the non-contact distance measurements to be performed at the end effector level.