International audienceThis article describes the study project and the implementation of the aspiration remote operated device called GOBIE. This robot is being used as part of a project for waste recovery and conditioning. After a presentation of the project context, the missions and objectives of this system, together with the core features shall be detailed hereafter. This includes interesting and innovative subsystems like aspiration, communication, transport and control

Grégory, Apolinario

Mickael, Pradelle

Millet, Cédric

Nicolas, Moulin

Philippe, Berard

Seyssaud, Jeremy

millet, cédric

Archive Ouverte en Sciences de l'Information et de la Communication

DEM 2018 - Dismantling Challenges: Industrial Reality, Prospects and Feedback Experience 
 
France, Avignon – 2018, October 22 │24 
Remote operated aspiration device for waste lying on the floor of 
casemates of the STEL installation in Marcoule 
 
SEYSSAUD Jérémy
1*
, PRADELLE Mickael
1
, MOULIN Nicolas
1
, MILLET Cédric
2
, APOLINARIO Gré-
gory
2
,
 
BERARD Philippe
2
 
 
1
CEA – Site of Marcoule  
2
Bouygues Construction Service Nucléaire - Décines-Charpieu 
* 
Jeremy.seyssaud@cea.fr  
 
Abstract: This article describes the study project and the implementation of the aspiration 
remote operated device called GOBIE. This robot is being used as part of a project for waste 
recovery and conditioning. After a presentation of the project context, the missions and objec-
tives of this system, together with the core features shall be detailed hereafter. This includes 
interesting and innovative sub-systems like aspiration, communication, transport and control. 
 
KEYWORDS: remote operation, dismantling, robotics, aspiration, bitumen 
 
Introduction  
As a nuclear operator, the CEA is in charge of the dismantling of its installations and the management 
of waste they have produced. Some of these operations include the recovery and the conditioning of 
old waste. This specifically applies to bitumen coated barrels produced and stored in the liquid effluent 
and waste treatment facility in Marcoule. These recovery operations have been performed since 2007 
thanks to operated devices called “Rascasse”. To achieve higher recovery capacity and limit contact 
operations, it was decided by the CEA to move from a “controlled” recovery system into a “remote 
operated” system. The first step consists in the implementation and commissioning of an aspiration 
robot called “GOBIE” intended to keep the facilities accommodating the recovery operations clean and 
safe. For that purpose, a work service contract has been awarded in 2013 to company Bouygues 
Construction Nuclear Services (Robotics and Special Device Department) in order to study the imple-
mentation of this robot. The factory acceptance was delivered in July 2017 and the application for an 
authorization to operate was transmitted to the nuclear safety authority in June 2017. The first imple-
mentation tests shall take place during the second half of 2018. 
 
Missions and objectives 
 
The casemates are reinforced concrete vaulted buildings of 9 to 10 m wide by 35 to 65 m long. Such 
casemates allow storing bitumen coated barrels containing radioactive sludge produced by the liquid 
effluents treatment facility since 1966. 
They are connected through an interface to a workshop in charge of identifying barrels, over-
packaging and transport packaging. 
The remote operated aspiration device must allow to vacuum the casemates and the transfer airlock 
floor and to collect the aspired waste in filter pots. 
The purpose of the system thus conceived is to vacuum the following waste: 
 Concrete dust (fine dusts <2.5 µm), 
 Slight volatile dust (> 25µm), 
 Non-adhesive solid balls (bitumen for example) (<3 cm), 
 Metal particles present as small sized traces < 5 mn. 
The system is in charge of: 
 Conditioning the aspired waste in filter pots, 
 Insure the compatibility with the aspiration device by limiting exposure of staff during imple-
mentation and maintenance operations, the spreading of contamination according to the in-
stallation installation security and safety rules. 
 
Features 
The system duly accepted in July 2017 is composed of the GOBIE robot (900kg mass, length : 2.18 
m, width : 1.2 m, height : 2.01 m), a trolley loading 5L filter pots with relay beacons, a remote control 
cockpit and a battery loading station. 
DEM 2018 - Dismantling Challenges: Industrial Reality, Prospects and Feedback Experience 
 
France, Avignon – 2018, October 22 │24 
 
Picture 1: Overview of GOBIE robot and trolley 
 
Two turbines in parallel allow the aspiration of waste with three operational modes: 
 Aspiration of dusts with a retractable clip in front of the robot, 
 Aspiration of medium particles by sweeping with a 6 axis arm mounted with a fine nozzle , 
 Aspiration of big particles or a specific area with a large nozzle mounted 6 axis arm mounted 
with a wide nozzle. 
 
Omnidirectional movement is made by a system of holonomic wheels, each wheel with an independ-
ent motorization without permitting to change rotation. In addition, the intermittent contact of wheels 
allows to limiting the spreading of contamination. 
 
The aspired waste is conditioned in a new type of pot (1) allowing to follow up its physical and radio-
logical filling level. Also, it presents a more important effective volume (50% jacket volume against 
15% for a usual pot) and can make remote handling with the 6 axis arm to load and unload it. 
 
The communication is ensured by a secure WiFi network distributed by stationary antennas in inter-
faces and mobile antennas in production areas. Mobiles antennas are settled by the robot itself, en-
suring a continuous signal and a redundant coverage in the case of failure. 
 
The control system is managed by the Robot Operating System (ROS) which is widely used in the 
modern robotic community, although rather on the academic level than on the industrial one. This 
Middleware allows to re-using technological bricks which are already well developed (simulation, view-
ing, debugging, trajectory generation, …) and offer unequalled modularity. 
 
 All batteries ensure a 5h autonomy in normal use for a 3.7 h reloading time. Such batteries are safe 
designed with a lithium iron phosphate (LiFePO4) electrolyte non-releasing hydrogen during loading or 
unloading, including a protection against short-circuits, overvoltage and overload, which are directly 
monitored from the cockpit. 
 
This robot also comes with additional features which allow to following up the dose rate, fire extin-
guishing, obstacle detection and viewing. 
 
Conclusion  
The device implemented by the CEA has been qualified and duly accepted in July 2017. All features 
are have been ensured and the expected performances have been achieved. 
The switch to remote operation is a technical and technological step which will allow improving clean-
ing performances and recovery rates. In addition, it allows to limiting human intervention during recov-
ery operation or for the device maintainability. 
Such device must also be considered as a “technological brick” for developing other remote operating 
devices. The various assemblies of this device are modular enough to be used for other projects, spe-
cifically for communication, energy storage, moving or the electric arm. 
 
References  
 
(1) Filing PCT/EP2017/055637 dated 10/03/2017.   
Presentation of 
« GOBY »
Remotely Vaccum Device
DEM 2018
CEA/DEN/DDCC/UDBE/CPCE
M. Pradelle
CONTENTS
1- Scope and Context
2- Experience feedback
3- Need’s Definition
4- Tender strategy
5- Solution / Choice
6- The Goby
7- Videos and pictures
Conclusion
PAGE N° 3
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
55000 bitumen drums
Industrialization / production goals
Safety and security evolution
=> Need news technologies
SCOPE AND CONTEXT
PAGE N° 4
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
SCOPE AND CONTEXT
Cleaning operation Recovery operation
Wired Brokk Washer
Forklift
Wastes composition:
- Metal (drum corrosion)
- Vynil
- Organic material
- Clay
- …
PAGE N° 5
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
EXPERIENCE FEEDBACK
Waste retrieval operations in bunkers 1 and 2 are currently performed with nuclearised forklift
requiring the presence of a human driver.
All operations in connection with waste retrieval impact drastically the production flow.
Targets:
- operating contraints must be limited (contamination management, human
intervention, etc.),
- production speeds must be increased. 
The RCD-B project has therefore implemented an evolving strategy including the development of 
remote-handled devices to reach a better performance on facility operating as well as continuing
retrieval operations of drums in bunkers :
The goals are :
- reducing operators’ working time spent on devices,
- improving daily cleaning procedures,
- combine retrieval and cleaning operations in the long run,
- improving the safety level of cleaning and retrieval operations.
PAGE N° 6
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
Definition and set-up area :
We made the choice to study a remote device to clean the floor in bunkers in order to limit contamination 
spreading. 33 requirements have been defined to reach to following aims:
• Increasing production speed,
• Cleaning traffic areas everyday,
• Limiting operators’ interventions,
• Insuring the area control, material follow-up and monitoring,
• Establishing strict security and safety rules meeting the regulation requirements.
This device is going to be implemented in the ERCF (Drums Retrieval & Reconditioning Shielded Line) site on 
STEL (Liquid Waste Station) area, as well as in bunkers 1 2 :
=> EXPERIENCE FEEDBACK
NEED’S DEFINITION
Bunkers 1 & 2
PAGE N° 7
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
TENDER STRATEGY
Functionalities definition
(performances, safety & security, production)
Tender answers
With definition studies
CEA Thinking group
=> Technical and financial analysis
Solution / Choice
All functionalities were verified and safety analysis done
PAGE N° 8
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
SOLUTION 
Holonomic wheels
High performances vacuum
HD Camera with night vision
Robotic arm
Wastes optimization
Long batteries life 
PAGE N° 9
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY – GENERAL INFORMATION
The GOBY is a remote vacuum device : 
• Supplied with embarked batteries charged by a loading station
• Guided from a wireless network,
• Equipped with a « filter cart » and specific fittings to maintain the device.
The GOBY device mainly includes the following fittings: 
• A vacuum system including a patented 5 liter pot, 
• A discharge filtration system (THE filter)
• A chamber keeping the main electrical and electronic components,
• Four holonomic wheels and a geared motor,
• A robotic arm,
• A dose rate sensor,
• A room sensor,
• An obstacle detection system,
• A high definition viewing system. 
PAGE N° 10
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / VACUUM CLEANER SYSTEM – 3D VIEWS
Rampe d’aspiration 
assurant le maintien en 
propreté sur une 
surface plus large
Flexible 
démontable par 
clips et colliers
Buse principale 
d’aspiration 
« large »
2 turbines en 
parallèle pour 
atteindre un débit 
de 300 m3/h
Filtre THE
Pot 5L + Embase 
de mesure
Buse principale 
d’aspiration 
« large »
Buse secondaire 
d’aspiration 
« suceur »
Removable flexible 
pipe with socket wiring
and metal clips
2 turbines in parallel to 
reach a 300 cubic
meters/hour flow
THE filter
Main « large »
aspiration nozzle
Second « suction » 
nozzle
aspir tion ramp keepi g a 
larger surfac  clea
Main « large » 
aspiration nozzle
5 liter pot + measuring
system
PAGE N° 11
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / ELECTRONIC BOX
All electrical and electronic components are available in the box : Super LiFePO4 battery (smart batteries without H2 
release).
The box is dustproof.
It is connected to a passive embedded extinctor system : 1 CO2 reserve bottle of approximately 1kg, 1 Direct HP injection 
valve, 1 pressure switch (dry contact) and 1 FIREDETEC pipe.
Batteries Box
Embarked
CO2 bottle
PAGE N° 12
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / HOLONOMIC WHEELS
The GOBIE is equipped with 4 holonomic wheels ; each one is connected to a geared motor.
The rollers of each holonomic wheel are covered by an elastomer coating.
The holonomic wheels allow to roll over 5cm high obstacles. They are multidirectional without friction => free moves. 
The nominal moving speed is 3,2km/h (i.e. 0,89m/s, while the maximum moving speed reaches 4,7 km/h (i.e. 1,31 m/s).
Floor
PAGE N° 13
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / REMOTE HANDLED ARM
The GOBIE is equipped with a 6 axes arm (SCHUNK) allowing the following operations: 
one-off aspiration with the aspiration nozzle (pile, gutters, etc)
whipping aspiration with large nozzle
loading of one empty 5L pot in the aspirator
unloading of one full 5L pot from the aspirator tank
closing of the 5L pot lid
loading of one 5L pot on the filter pots transport trolley
unloading of one 5L pot from the filter pots transport trolley
loading of the large/aspiration nozzle
opening and closing of aspirator tank
make DdD measurements on filter pot
laying wireless beacons on the floor
laying beacons on GOBIE device or on a transport trolley
laying beacons on loading station
connect and disconnect the GOBIE to loading station
remove nozzle or terminals laid on the floor
disconnect the aspiration pipe to replace it
connect the aspiration clip to the aspirator via the nozzle
The 6 axe arm includes 2 control modes:
Manual mode: to perform unpredictable or time to time different
operations;
Semi-automatic mode : for anticipated or repeating opertions. 
PAGE N° 14
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / REMOTE-HANDLED ARM CONFIGURATIONS
Grip of aspiration nozzle from its location
Grip  of filter pot
Grip of aspiration nozzle
PAGE N° 15
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / OBSTACLE DETECTION SYSTEM
The virtual protection provides a physical barrel to define the space needed for the robot.
It depicts the area whithin which the robot fittings are operating. It is equipped with a 14 ultrasonic sondes 
constituting « obstacle detection radars ». 
The system provides obstacle detection on 360° around the robot.
Program to prevent from collisions 
 Stop at 30cm
Up to 5M detection
PAGE N° 16
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / VIEWING SYSTEM
3 motorized video cameras : 1 PTZ (motorized camera on site, azimuth and zoom) and 2 wide angle HD 
cameras on the aspiration robot. 
Each video camera includes white LED (high brightness) or IR (infrared) lightning moving
simultaneouosly with the vision sensor.
The pictures taken by both cameras are displayed and integrated into the robot control computer. 
Caméra fixe avant
Motorized camera N°1
Front fixed c mera
Back fixed camera
PAGE N° 17
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / COMMUNICATION AND NETWORK
Wireless communication network with signal transmission antennas.
Optical fibre wiring towards control room allowing a 100% clean signal. 
=> 3 wireless network beacons are deployed for the reception of the signal in bunkers. 
The beacons may be directly loaded on the GOBIE.
15V 9,6 Ah battery
Computer management
Starting up contact
PAGE N° 18
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY / DRIVING UNITY
The man/machine interface in the control room allows :
- To communicate in real time with the GOBIE,
- To control the different equipments of the GOBY (arm, 
cameras, aspiration system…)
- To move the GOBIE (different speeds)
- To view and manage various parameters to help 
performing operations such as :
o viewing obstacles around the robot,
o in the form of mapping of already vacuumed
areas, 
o dose rates in real time at the filter pot level,
o filter pot and DDD filling level, 
o differential pressure at the HE filtration level
(filter pot),
- To view and manage the monitoring parameters of 
equipments proper functionning in particular such as:
o the rate of loading and temperature of 
batteries,
o motors and servomotors parameters, 
o inside temperature of the box,
o differential pressure in THE terminal filtration 
level.
+ Sound return
PAGE N° 19
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
A plate on spring allows to take the 
following measurements:
• Volume 
• Activity 
• Mass
• Designed integrated sensor
IN REAL TIME
Top view
The dismantled prototype pot includes:
- 3 HE filters
- Guide grid
- PE material
- 30 kg magnetic lid
GOBY / 5 LITERS DRUM – CEA PATENT
PAGE N° 20
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY
PICTURES & VIDEOS
GOBIE remote-handled vaccum device with beacons and 5L pots 
transport trolley
6 hours autonomy ; 
3 hours loading time 
General 
presentation
PAGE N° 21
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
GOBY
PICTURE & VIDEOS
Motion test
On-site motion
Ramp test
Sweeping with
nozzle
On-site test
PAGE N° 22
PRÉSENTATION DDCC/UDBE DU XX XXXX 2017– REUNION TRIMESTRIELLE PROJET / MOA
CONCLUSION
• High performances device
• Tender strategy (response with studies) allowed to fix the technical perimeter and 
validate the solution in the project context
• Feedback :
• R&D’s Integration for industrial needs
• Technical functions associated to safety
• Continuous CEA validation
• CEA patent for a new drum wastes type
• Human security increases
• Next step :
Remote
device to 
take drums
Moray
2019


English

Remote operated aspiration device for waste lying on the floor of casemates of the STEL installation in Marcoule

HAL-CEA

https://hal.archives-ouvertes.fr/hal-02325158/file/SFEN%202018%20GOBIE%20abstract%20et%20presentation.pdf

Remote operated aspiration device for waste lying on the floor of casemates of the STEL installation in Marcoule

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