Systems and methods for wireless remote control of automated equipment

Abstract

This application discloses systems and methods for remote control of automated equipment. The systems and methods include automated equipment configured to perform a process in a confined location by performing operations based on predetermined programming. In some embodiments, the process is a welding process and the confined location is a nuclear reactor containment building. The systems and methods also include a cellular router configured to enable communication of operating parameters between the automated equipment and a human-machine interface (HMI). An operator can use the HMI to change the operating parameters, thereby remotely modifying the operation of the automated equipment without being inside or on-site at the confined location.

Description

[Background technology]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Non-Provisional Patent Application No. 17 / 109,252, filed December 2, 2020, entitled "SYSTEMS AND METHODS FOR WIRELESS REMOTE CONTROLLING AUTOMATED EQUIPMENT," which is incorporated by reference in its entirety.

[0002] In industrial environments, access to equipment requiring maintenance or repair is often restricted. For example, human access to certain areas within a plant may be restricted due to hazards such as radiation or other contaminants. Similarly, space and clearance constraints may make it impossible for humans to access and work on certain plant equipment.

[0003] Containment buildings at nuclear power plants are particularly subject to restricted access because they house components commonly referred to as "reactor systems," which contain the plant's hazardous radioactive materials. Such components include the nuclear reactor. When the spent fuel reaches the end of its useful life, it is removed from the reactor and transferred to a spent fuel pool located within the containment building. Regulations and standard practices require the spent fuel pool to be emptied once it reaches a certain capacity. Timely removal of spent fuel is important to ensure excess capacity in the spent fuel pool in case nuclear fuel needs to be removed quickly from the reactor.

[0004] To safely and efficiently remove the spent fuel from the containment building, it is placed in a specially designed sealed canister. Furthermore, to properly contain the radiation from the spent fuel, a lid is welded to the top of the canister and sealed. However, this welding process is difficult due to the limited access to the containment building. Furthermore, as mentioned above, the spent fuel emits radiation that is dangerous to plant personnel.

[0005] It is an object of the present disclosure to provide systems and methods that provide a safer, more effective, and less expensive means for enabling human-assisted control of automated equipment in confined locations, including human-assisted control of automated welding processes using wireless communication at nuclear facilities. Summary of the Invention

[0006] The following summary is intended to facilitate an understanding of some of the innovative features unique to the embodiments disclosed herein, but is not intended to be a complete description, and a full understanding of these various embodiments requires that the specification, claims, and abstract of the present application be taken together in their entirety.

[0007] In various aspects, a system for remote control of automated equipment is disclosed, the system comprising: an automated equipment configured to perform a process in a restricted location by performing operations based on predetermined programming; a first cellular router communicatively coupled to the automated equipment and located outside the restricted location; a second cellular router configured to communicate with the first cellular router using a cellular network and located remotely from the first cellular router; and an operator console communicatively coupled to the second cellular router, the operator console including a human-machine interface (HMI) that allows an operator to modify the operation of the automated equipment in real time by changing operating parameters of the predetermined programming, the changes in the operating parameters being communicated between the operator console and the automated equipment, wherein the system is configured to prevent wireless signals from being transmitted from within the restricted location to outside the restricted location.

[0008] In various aspects, a system for remote control of a robotic welding head is disclosed, the system including: a robotic welding head configured to weld a lid to a spent fuel canister located within a containment building of a nuclear power plant by performing welding operations based on predetermined programming; a first cellular router communicatively coupled to the robotic welding head and located outside the containment building; a second cellular router configured to communicate with the first cellular router using a cellular network and located remotely from the first cellular router; and an operator console communicatively coupled to the second cellular router, the operator console including a human-machine interface (HMI) that allows an operator to modify the welding operations of the robotic welding head in real time by modifying operating parameters of the predetermined programming, wherein the changes to the operating parameters are communicated between the operator console and the robotic welding head, the system being configured such that wireless signals cannot be transmitted from within the containment building to outside the containment building.

[0009] In various aspects, a method for remote control of automated equipment is disclosed, the method including the steps of: executing a process in a restricted location using automated equipment configured to operate based on predetermined programming; and communicating operating parameters of the predetermined programming between the automated equipment and an operator console including a human-machine interface (HMI), wherein a first cellular router located outside the restricted location is communicatively coupled to the automated equipment, and a second cellular router located remotely from the first cellular router is communicatively coupled to the operator console, the first cellular router configured to communicate with the second cellular router using a cellular network, and wherein an operator uses the HMI to modify the operating parameters communicated between the operator console and the automated equipment to modify the operation of the automated equipment in real time.

[0010] In various aspects, a method for remote control of a robotic welding head is disclosed, the method including the steps of: welding a lid to a spent fuel canister located within a containment building of a nuclear power plant using a robotic welding head configured to perform welding operations based on predetermined programming; and communicating operating parameters of the predetermined programming between an operator console including an HMI and the robotic welding head, wherein a first cellular router located outside the containment building is communicatively coupled to the robotic welding head, a second cellular router located remotely from the first cellular router is communicatively coupled to the operator console, and the first cellular router is configured to communicate with the second cellular router using a cellular network; and an operator uses the HMI to modify the operating parameters communicated between the operator console and the robotic welding head to modify the welding operation of the robotic welding head in real time.

[0011] These and other objects, features and nature of the present disclosure, the method of operation and function of the associated structural elements, combination of parts, and economy of manufacture will become more apparent from the following description and appended claims, taken in conjunction with the accompanying drawings, all of which form a part hereof. Like reference characters used in the various drawings refer to corresponding elements. It is, however, to be expressly understood that the accompanying drawings are for the purposes of illustration and description only and are not intended to limit the scope of the present disclosure. [Brief explanation of the drawings]

[0012] The various features of the embodiments described herein are set forth with particularity in the appended claims. However, the various embodiments and their advantages relating to the mechanisms and methods of operation will be better understood from the following description taken in conjunction with the accompanying drawings, in which:

[0013] [Figure 1] FIG. 1 is a perspective view illustrating a spent fuel canister and a robotic welding head attached to a fuel canister lid, according to at least one non-limiting embodiment of the present disclosure.

[0014] [Figure 2A-2B] FIG. 1 is a block diagram of a work station configured for wireless control of automated equipment, in accordance with at least one non-limiting aspect of the present disclosure.

[0015] [Figure 3A-3B] FIG. 1 is a block diagram of an operating station configured for wireless control of automated equipment, in accordance with at least one non-limiting aspect of the present disclosure.

[0016] Like reference characters refer to corresponding parts throughout the several views. It should be understood that the examples described herein illustrate one embodiment of various aspects of the present invention, and that such illustrations should not be construed as limiting the scope of the present invention in any manner. DETAILED DESCRIPTION OF THE INVENTION

[0017] Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described herein and illustrated in the accompanying drawings. Well-known operations, components, and elements are not described in detail to avoid obscuring the embodiments described herein. The reader should understand that the embodiments described and illustrated herein are non-limiting examples, and thus, the specific structural and functional details disclosed herein may be representative and illustrative. These embodiments may be modified and altered without departing from the scope of the claims.

[0018] Before describing various aspects of the present disclosure in detail, it should be noted that the embodiments illustrated herein are not limited in their application or use to the details of construction and arrangement of parts illustrated in the accompanying drawings and description. The illustrative embodiments may be implemented or incorporated in other embodiments, variations, and modifications, and may be practiced or carried out in various ways. Furthermore, unless otherwise specified, the terms and phrases employed herein have been chosen for the convenience of the reader and for the purpose of describing the embodiments, not for the purpose of limiting the embodiments. It will also be understood that one or more of the embodiments, aspect expressions, and / or embodiments described below may be combined with any one or more of the other embodiments, aspect expressions, and / or embodiments described below.

[0019] The present disclosure relates to systems and methods for human-assisted control of automated equipment in confined locations, including human-assisted control of an automated welding process using wireless communications in a nuclear facility. Automated equipment is often used in industrial environments to perform maintenance or repair work where access is limited due to safety or clearance constraints. For example, nuclear power plant containment buildings have restricted access due to the risk of radiation and other contaminants. While work in such confined locations can be performed using automated equipment running predetermined programs, human intervention is often required to control and coordinate critical aspects of the process that cannot be fully automated. Enabling such human control is challenging because wireless signals may not be able to be sent to or received from the confined location. For example, the walls of a nuclear reactor containment building may be constructed of cement six feet thick, which can impede the transmission of wireless signals. Therefore, a need exists for systems and methods that enable human-assisted control of automated equipment using wireless communications in confined locations.

[0020] One such automated process requiring human-assisted control is the welding of spent nuclear fuel canister lids using an automated robotic welding head. To perform this process, an automated robotic welding arm is attached to the spent fuel canister lid and performs the welding process. For example, FIG. 1 shows a spent fuel canister 100 and a canister lid 102. A robotic welding head 104 attached to the canister lid 102 welds the canister lid 102 to the top of the spent fuel canister 100. While the use of an automated welding robot allows the canister to be sealed without personnel inside the containment area, human intervention is still required to make critical decisions throughout the welding process. Specifically, an operator is required to monitor the weld pool characteristics, sidewall melting, and welding arc characteristics and make on-the-fly adjustments as needed. Such adjustments can be made, for example, by manipulating the welding wire (i.e., manipulating the filler metal entry into the weld pool) to achieve desired weld pool characteristics or by changing the positioning of the tungsten to maintain desired arc penetration and deposition. The changes in operating parameters required to modify these welding operations cannot be determined in advance and require on-site human supervision and control and correction to meet the canister lid welding requirements.

[0021] Additionally, the canister lid welding process is complicated because communication between an operator-controlled station and the robotic welding arm typically requires a wired connection, as wireless communication signals cannot penetrate the thick cement walls of the containment building.

[0022] Another challenging aspect of the canister lid welding process is that it requires a skilled operator to provide human-assisted control of the robotic welding arm. Furthermore, communication between the welding robot arm and the operator is limited to a wired connection, so the skilled operators responsible for welding the canister lids must be located at each plant. This creates cost and manpower challenges, especially as the number of skilled operators available is limited. For example, it may be difficult to secure enough personnel to perform multiple spent fuel removal operations simultaneously at multiple plants. As a result, companies face increased costs associated with frequently training new operators. Furthermore, having multiple skilled operators at each plant site incurs additional travel and living expenses.

[0023] Various systems and methods disclosed herein beneficially improve the safety, cost-effectiveness, and efficiency of equipment operations by enabling human-assisted control of automated equipment using wireless communications in confined locations. For example, human-assisted control of spent fuel canister welding operations using wireless communications allows operators to work from outside the hazardous containment area, beneficially reducing the risk of injury. Specifically, operators can adjust critical welding parameters that require human supervision without exposure to radiation or other contaminants. Embodiments of the present disclosure also improve safety by reducing operator fatigue associated with working in confined or hazardous locations.

[0024] Furthermore, remote operation of automated equipment using wireless technology can be expected to result in significant cost savings. For example, since operators do not need to be stationed on-site, operators can work from a centralized location. This has the advantage that skilled operators can gather in one location and remotely control equipment at multiple sites. As a result, the number of workers required at each site can be minimized, reducing overhead costs such as travel and living expenses. Aspects of the present disclosure also enable operators to work from home.

[0025] Additionally, allowing operators to remotely operate automated equipment can beneficially reduce training costs. For example, skilled operators are required to control the welding process for spent nuclear fuel canisters. The systems and methods disclosed herein avoid the costs associated with training new skilled operators to perform multiple spent fuel removal operations occurring simultaneously at multiple plants. Furthermore, aspects of the present disclosure enable continuous welding operations by avoiding the need for frequent travel by skilled welders.

[0026] Aspects of the present disclosure also beneficially improve the efficiency of automated processes in several ways. For example, by enabling remote control of automated processes that occur in confined locations, operators can adjust and operate the process in "real time" from anywhere. Operators can also download operating parameters, schedules, error logs, and diagnostic information that enable remote troubleshooting. The present disclosure also enables the software that controls the automated process to be updated and customized remotely without requiring subject matter experts to be located at the equipment. Additionally, the same crew of skilled operators can monitor multiple sites from a single location, further improving efficiency and increasing the quality and consistency of work.

[0027] 1 is a perspective view of a spent fuel canister 100 according to at least one non-limiting embodiment of the present disclosure. Nuclear fuel used in a nuclear reactor reaches the end of its useful life and is transferred to a spent fuel pool. Both the reactor and the spent fuel pool are contained within a containment building for a nuclear power plant. When the spent fuel pool reaches its maximum capacity, the spent nuclear fuel is placed in a spent fuel canister 100 and transported out of the containment building.

[0028] With further reference to FIG. 1 , a canister lid 102 is used to seal a spent fuel canister 100 and safely prevent the escape of radiation emitted from the spent nuclear fuel. The canister lid 102 is welded to the spent fuel canister 100 using a robotic welding head 104 to achieve a seal. Specifically, the robotic welding head 104 performs various welding operations, such as positioning and moving the robotic arm, feeding and positioning the welding (filler) wire, and positioning the tungsten to control the welding arc. The welding operations performed by the robotic welding head 100 can be automated based on predetermined programming executed by a robot controller and / or a programmable logic controller. While these operations are automated, human intervention is required to safely seal the spent fuel canister. For example, human intuition and experience are required to monitor the melting of the weld pool and sidewall and make necessary adjustments to parameters controlling the filler wire positioning and feed rate. Similarly, human intuition and experience are required to monitor the welding arc, make necessary adjustments to parameters controlling the tungsten positioning, and ensure proper weld penetration and deposition. However, access to the containment building is restricted due to the dangerous radiation environment, making it difficult for humans to control such work.

[0029] 2A and 2B are block diagrams of a work station 200 configured for wireless control of automated equipment, according to at least one non-limiting aspect of the present disclosure. FIGS. 2A and 2B are intended to be viewed in combination. FIG. 2A is coupled to FIG. 2B at connection point A1. Referring initially to FIG. 2A, work station 200 includes a robotic welding head 104. As described above, robotic welding head 104 can be configured to perform a welding process based on predetermined programming. This predetermined programming can be stored in and / or executed by a robot controller 204 communicatively coupled to robotic welding head 104. Work station 200 further includes a welding power source 206. Welding power source 206 can be computer-controlled and configured to regulate the power supplied to robotic welding head 104.

[0030] In other embodiments of the present disclosure, automated equipment can be included in the work station 200 in place of the robotic welding head 104. For example, the systems and processes described herein can be applied to control automated equipment used in industrial processes such as welding, painting, assembly, material handling, pick-and-place, packaging, labeling, palletizing, product inspection, testing, and other processes that use robotic arms to perform autonomous tasks. The systems and processes described herein are advantageous in that they enable wireless, human-assisted, remote control of such processes when performed in restricted areas.

[0031] 2A , work station 200 further includes programmable logic controller (PLC) 210. PLC 210 is configured to enable robotic welding head 104, robot controller 202, and welding power source 206 to communicate with other components of work station 200 via Ethernet. For example, PLC 210 may include various input / output channels associated with different components of robotic welding head 104, robot controller 202, and welding power source 206. Using these input / output channels, PLC 210 not only transmits signals that control the operation of robotic welding head 104, but also receives signals related to the operating status of robotic welding head 104. PLC 210 converts these signals to an Ethernet-based protocol for communication with other components of work station 200 via Ethernet cable 211. PLC 210 may also be configured to couple to welding power source 206 and provide power to robotic welding head 104.

[0032] In addition to communicating various input and output signals to and from the PLC 210, the robotic welding head 104 can also transmit one or more video signals to the PLC 210. In various embodiments, the robotic welding head 104 includes one or more cameras configured to monitor the welding process and generate video signals based on the captured images. For example, it may be desirable to have one camera monitoring the leading edge of the weld pool and another camera monitoring the trailing edge of the weld pool. Based on the live feed from these cameras, a skilled operator can monitor, for example, the weld pool, sidewall melting, filler wire entry position and speed, and / or arc characteristics related to weld penetration and deposition. Based on the live feed, the skilled operator can also make critical adjustments to parameters controlling, for example, filler wire feed rate, filler wire positioning, tungsten positioning, and / or welding arm speed and positioning to improve weld quality and reduce the risk of defects.

[0033] In various embodiments of the present disclosure, one or more cameras used to monitor the welding process use arc filtering techniques to provide a clear view of the weld pool without significant obstruction by the welding arc. To accomplish this, one or more cameras can filter out light of frequencies that correspond to the light emitted by the welding arc. Producing high-resolution, “real-time” images provides the operator with the advantage of making informed decisions regarding the control of automated equipment operating parameters. As used herein, the term “real-time” generally refers to the ability to view or perceive the operation and operating parameters of automated equipment instantly, near-instantaneously, or with a short delay. Displaying real-time footage is important so that the operator can visualize adjustments being made to the operation of the automated equipment as they are made. For example, providing the operator with such real-time footage can be beneficial in allowing the operator to monitor and make instantaneous or near-instantaneous adjustments to the weld pool, welding arc, and / or robotic arm position, etc. As noted above, in other embodiments of the present disclosure, the workstation 200 can include automated equipment that replaces the robotic welding head 104. This alternative device may similarly include one or more cameras that generate transmission signals to the PLC 210 .

[0034] Referring again to FIG. 2A , PLC 210 receives video signals from each of the one or more cameras and transmits the video signals to video encoder 220 via video switcher 212. The video signals may be transmitted from video switcher 212 via cable 213 to video encoder 220 using a serial digital interface (SDI) and received at an SDI input 224 of video encoder 220. Work station 202 may further include a headset 208 for capturing audio associated with the automated process and generating an audio signal that is transmitted directly to audio connection 222 of video encoder 220. Furthermore, headset 208 may include both a microphone and a speaker configured to be worn by an operator located at work station 200. Video encoder 220 receives the video signals from video switcher 212 and / or the audio signals from headset 208, converts these signals without loss of quality, and transmits them to other components of work station 200 via LAN connection 226 using an Ethernet-based protocol.

[0035] Work station 200 further includes a LAN router 230 communicatively coupled to both PLC 210 and video encoder 220. LAN router 230 is configured to route communications between different components of work station 200 by detecting each component's individual IP address. LAN router 230 may be implemented using UNMS EdgeRouter or similar Ethernet router technology. In the embodiment disclosed in FIG. 2, LAN router 230 is configured to route Ethernet signals from PLC 210 and video encoder 220 to fiber optic receiver 240.

[0036] Referring now to FIG. 2B, fiber optic receiver 240 is configured to accept an Ethernet signal from LAN router 230 via Ethernet connection 246 and transmit the signal via single-mode connection 244 and single-mode fiber 245 to fiber optic transmitter 260. The fiber optic transmitter may include a video input 262. The fiber optic connection between fiber optic receiver 240 and the fiber optic transmitter advantageously enables communication from within a restricted area of ​​an industrial environment to outside the restricted area without the need for wireless communication. For example, FIG. 2 illustrates a situation in which PLC 210, video encoder 220, LAN router 230, and fiber optic receiver 240 are housed inside a containment building of a nuclear power plant and are located to the left of containment structural wall 250. FIG. 2 further illustrates a situation in which single-mode fiber 245 extends through containment structural wall 250 to enable communication with fiber optic transmitter 260 located outside the containment building. In this example, the length of single-mode fiber 245 can be extended to approximately two miles without loss of signal quality or speed, allowing fiber optic transmitter 260 and cellular router 270 to be located remotely outside the containment building if desired.

[0037] Fiber optic transmitter 260 receives the signal from fiber optic receiver 240 over single-mode connection 264, converts the signal back to Ethernet format, and further transmits it to operation station cellular router 270 via Ethernet connection 266. As a result, operation station cellular router 270 receives data regarding robotic welding head 104 (including any data from a camera mounted on robotic welding head 104), robot controller 204, welding power source 206, and headset 208 over LAN connection 274. Furthermore, as shown in FIG. 3B , operation station cellular router 270 is configured to transmit and receive data regarding robotic welding head 104, robot controller 204, welding power source 206, and headset 208 via cellular communication to remotely located operation station cellular router 370 using high-gain antennas 271, 273.

[0038] The cellular router 270, 370 is configured to enable wireless communication of data related to the operation of the robotic welding head 104 using a secure cellular network connection. In various embodiments of the present disclosure, the cellular router is capable of detecting the signal strength of cellular networks from multiple network providers. The signal strength may be displayed on a signal strength indicator 272, 372. Furthermore, the cellular router 270, 370 may be programmed to select and utilize a preferred cellular network. Alternatively, the cellular router 270, 370 may be programmed to automatically select the cellular network with the strongest combined signal or the cellular network with the strongest signal at either the individual router location. Furthermore, the cellular router 270, 370 may be configured to connect to multiple cellular networks simultaneously, improving bandwidth reliability and effectively increasing data transfer rates.

[0039] The cellular router 270, 370 can also be configured to automatically switch to a cellular network if a signal with the initial or preferred network is lost. This is beneficial in that it allows an operator to maintain critical control of the robotic welding head 104 or other automated equipment even if a signal is lost. Additionally, the cellular router 270, 370 can be programmed to continue using an alternate cellular network when a connection with the initial or preferred network is re-established. Alternatively, the cellular router 270, 370 can be programmed to switch back to the initial or preferred network. The cellular router 270, 370 can be implemented using cradlepoint or similar cellular router technology.

[0040] In the event of a complete loss of signal among all available cellular networks, the robotic welding head 104 and / or robot controller 204 can be configured to safely suspend operation. This can be implemented using a watchdog timer configured to automatically lower the robotic welding head 104 to a safe state upon detecting a signal interruption. Alternatively, a local operator station can be provided at the job site. In this case, upon detecting a loss of signal using the watchdog timer, control can be transferred from the remote operator station to the local operator station, allowing the on-site operator to continue welding operations. A second watchdog timer can be implemented to automatically lower the robotic welding head 104 to a safe state if the on-site operator is unable to establish control at the local operator station.

[0041] 3A and 3B are block diagrams of an operation station 300 configured for wireless control of automated equipment, according to at least one non-limiting aspect of the present disclosure. FIGS. 3A and 3B are intended to be viewed in combination. FIG. 3A joins FIG. 3B at connection point A2. Referring first to FIG. 3B, the operation station 300 includes an operation station cellular router 370. As described above, the operation station cellular router 370 is configured to wirelessly communicate with the work station cellular router 270. The cellular router 370 transmits and receives data regarding the operation of the robotic welding head 104 using a secure cellular network connection via high-gain antennas 371 and 373.

[0042] The operations center cellular router 370 transmits data regarding the robotic welding head 104, robot controller 204, welding power source 206, and headset 208 to the fiber optic transmitter 360 via LAN connection 374. Signals are transmitted between the operations center cellular router 370 and the fiber optic transmitter 360 using an Ethernet protocol. The fiber optic transmitter 360 receives signals from the cellular router 370 via Ethernet connection 366 and transmits those signals to the fiber optic receiver 340 via single-mode connection 364 and single-mode fiber 345. The fiber optic receiver 340 receives the signals via the single-mode connection 344. The fiber optic transmitter 360 may include a video input 362, and the fiber optic receiver 340 may include a video input 342. Communication via single-mode fiber 345 allows the fiber optic transmitter 360 and the operations center cellular router 370 to be located remotely from other components of the operations center 300. For example, console 310 may be advantageously located within an office, while a cellular router may be located further away where the cellular signal is stronger than within the office. In this example, the length of single-mode fiber 345 may be extended to approximately two miles without loss of signal quality or speed.

[0043] 3A and 3B, the fiber optic receiver 340 converts the signals received from the fiber optic transmitter 360 back to Ethernet format and transmits them further to the LAN router 330 via Ethernet connection 346. The LAN router 330 is configured to route communications between different components of the operations station 300 by detecting each component's individual IP address. The LAN router 330 may be implemented using a UNMS EdgeRouter or similar Ethernet router technology. In the embodiment disclosed in FIG. 3A, the LAN router 330 is configured to route the Ethernet signals from the fiber optic receiver 340 to the video decoder 320 and the console 310. In other embodiments, the LAN router 330 may be configured to transmit the Ethernet signals directly from the operations station cellular router 370 to the video decoder 320 and the console 310.

[0044] The Ethernet signals sent to the video decoder 320 carry data related to video signals generated by one or more cameras included in the robotic welding head 104. Data related to audio captured from the headset 208 is also sent to the video decoder 320. As mentioned above, in other embodiments, automation equipment other than the robotic welding head 104 can be implemented. Data related to video signals generated by one or more cameras included in this alternative automation equipment can also be routed to the video decoder 320. The video decoder 320 receives these Ethernet signals over an Ethernet LAN connection 326. The video data received by the video decoder 320 is converted to a high-definition multimedia interface (HDMI) format and transmitted to the console 310 via an HDMI connection 324 and an HDMI cable 313. The audio data received by the video decoder is transmitted to the headset 302 via an audio connection 322.

[0045] Console 310 receives video signals generated by one or more cameras included in robotic welding head 104. Video monitor 314 is included in console 310 and configured to display one or more video images based on the video signals. In this manner, video monitor 314 may display a real-time view of the welding process being performed by robotic welding head 104. In other embodiments of the present disclosure, video monitor 314 displays one or more video images based on video signals generated by cameras included in automated equipment other than robotic welding head 104. For example, video monitor 314 may display real-time footage of automated equipment used in industrial processes of welding, painting, assembly, material handling, pick and place, packaging, labeling, palletizing, product inspection, testing, or other processes related to automated equipment.

[0046] Advantageously, the video displayed by the video monitor 314 allows an operator stationed at the console 310 to view various aspects of the process being performed by the robotic weld head 104 or other automated equipment in real time and make decisions based on this process view. For example, the robotic weld head 104 may include one camera configured to monitor the leading edge of the weld pool and another camera configured to monitor the trailing edge of the weld pool. Using these real-time camera views, the operator can monitor the weld pool, sidewall melting, filler wire entry position and speed, and / or welding arc characteristics. Furthermore, the operator can use the real-time video to identify areas where adjustments are needed to correct or improve the quality of the weld by adjusting key parameters controlling filler wire feed rate, filler wire positioning, tungsten positioning, and / or welding arm speed and positioning. The operator may also wear a headset 302 that receives audio from the workstation 200. The operator can use headset 302 to hear important information about the processes being performed at work station 200 and / or to communicate with other operators located at work station 200 who are also wearing headsets 208.

[0047] 3A , the operator console 310 further includes a human-machine interface (HMI) 312. The operator console 310 receives Ethernet signals routed by a LAN router 330 that carry information related to the operation of the robotic weld head 104. This may include, for example, data related to the robotic weld head 104, the robot controller 204, and the welding power source 206. The Ethernet signals are transmitted via an Ethernet cable 311. In other embodiments of the present disclosure, the operator console 310 receives Ethernet signals routed by the LAN router 330 that carry information related to automated equipment other than the robotic weld head 104. The HMI 312 included in the operator console 310 allows an operator to interact with the system through monitoring and controlling operating parameters to modify operations performed by the robotic weld head 104 or other automated equipment.

[0048] In various embodiments of the present disclosure, the HMI 312 may include a touchscreen and / or joystick to facilitate operator control. One exemplary canister welding process begins with the operator using the HMI 312 to select a particular type of welding operation to be performed. An automated program associated with the selected welding job is then loaded, for example, by the robot controller 204 and / or the operator console 310. The operator can also use the HMI 312 to adjust various setup parameters based on the condition of the canister or the desired welding specifications. Next, to begin the welding process, the operator commands the robotic weld head 104 to move to a start position and begin welding. During welding, the movements of the robotic weld head 104 are monitored by one or more cameras mounted on the robotic weld head 104 and displayed in real time on a video monitor 314. The operator uses the video monitor 314 to monitor the weld pool characteristics, sidewall melting, and welding arc characteristics to make on-the-fly adjustments as needed to the operating parameters controlling the filler wire feed rate, filler wire positioning, tungsten positioning, and / or welding arm speed and positioning.

[0049] Operator interaction, as described herein, is critical to maintaining weld quality. Furthermore, operator-controlled operations are not predetermined and require human monitoring and adjustment to achieve desired weld characteristics. For example, an operator can adjust filler wire feed rate and / or positioning parameters to control filler wire penetration into the weld pool. An operator can also adjust tungsten positioning parameters to control the welding arc and maintain specific characteristics that affect weld penetration and deposition. An operator can also adjust position and movement parameters for the robotic welding head 104 to navigate the robotic arm of the robotic welding head 104. Adjustments to these operation-controlling parameters can be made using a touchscreen and / or joystick included with the HMI 312. In various embodiments, the HMI 312 includes a remote, tactile, or handheld joystick or control pendant.

[0050] The console 310 may be configured with a biometric monitor or sensor. For example, an operator may be required to unlock the system using facial recognition or fingerprint identification before controlling the HMI 312. The console 310 may also have quality assurance / quality control (QA / QC) auditing capabilities. For example, an operator supervisor may be able to remotely view the operator's control selections in real time or based on stored data. This provides the supervisor with the advantage of ensuring consistent quality across operators in various locations. The supervisor may also be able to download welding schedules, error logs, and diagnostic information to aid in troubleshooting and performance management.

[0051] It should be noted that when communication is discussed herein, it may be in the context of transmitting or receiving signals. However, these terms are not intended to limit the directionality of the communication. It should be understood that throughout this disclosure, any component of work station 200 and control station 300 that is described as transmitting a signal may also receive the signal. Similarly, any component of work station 200 and control station 300 that is described as receiving a signal may also transmit the signal. For example, data related to the operation of robotic welding head 104 is both transmitted and received by operator console 310. Similarly, data related to the operation of robotic welding head 104 is both transmitted and received by PLC 210.

[0052] The various embodiments described above utilize wireless communication over a secure cellular network to transfer information between the HMI 312, video monitor 314, PLC 210, robotic weld head 104, robot controller 204, and welding power source 206. This communication protocol enables what may be described as "human-controlled automation" or "augmented automation," which is the ability to operate complex equipment as an extension of human sensory and operating capabilities, allowing an operator to make instantaneous or near-instantaneous observations and make immediate adjustments and / or corrections to an automated process that operates based on predetermined programming.

[0053] Moreover, various aspects of the present disclosure enable these types of enhanced automated processes to be performed remotely via wireless communication. For example, automated processes performed within a restricted area, such as welding spent fuel canister lids inside a nuclear power plant containment building, can be remotely controlled without an operator being present on-site. Enabling such remote operation can beneficially improve safety and efficiency and potentially result in significant cost savings. A typical spent fuel canister welding operation would typically require a supervisor, two welders, and one maintenance technician, all of whom would be present on-site. By implementing various aspects of the present disclosure, only one or two personnel would be required on-site to set up and maintain the equipment. The remaining personnel could remotely control the welding operation, potentially saving the project thousands of dollars in labor costs plus living expenses. Furthermore, various aspects of the present disclosure advantageously enable remote control of automated processes without exposing operators to a hazardous environment. [Example]

[0054] Various aspects of the subject matter described in this application are described in the following examples.

[0055] [Example 1] A system for remote control of automated equipment, comprising: an automated equipment configured to execute a process in a restricted location by performing operations based on predetermined programming; a first cellular router communicatively coupled to the automated equipment and located outside the restricted location; a second cellular router configured to communicate with the first cellular router using a cellular network and located remotely from the first cellular router; and an operator console communicatively coupled to the second cellular router, the operator console including a human-machine interface (HMI) that allows an operator to change the operation of the automated equipment in real time by changing operating parameters of the predetermined programming, wherein the changes in the operating parameters are communicated between the operator console and the automated equipment, wherein the system for remote control of automated equipment is in a state where wireless signals cannot be transmitted from inside the restricted location to outside the restricted location.

[0056] [Example 2] A system as described in Example 1, wherein the automated equipment includes at least one camera configured to monitor a process and generate a video signal, and the operator console includes a video monitor that displays a real-time view of the process based on the video signal, and the real-time view of the process is used to assist an operator in making decisions while changing operating parameters.

[0057] [Example 3] The system according to any one of Examples 1 and 2, further including a programmable logic controller (PLC) communicatively coupled to the automation equipment and configured to enable communication of operating parameters via Ethernet, wherein the PLC further includes a video switcher communicatively coupled to the at least one camera, the video switcher configured to receive the video signal generated by the at least one camera, the system further including a video encoder communicatively coupled to the video switcher, the video encoder configured to receive the video signal from the video switcher and enable communication of the video signal via Ethernet, and a communication device communicatively coupled to the PLC, the video encoder, and the first cellular router. a first LAN router configured to route Ethernet communications between the PLC, the video encoder, and the first cellular router; and a second LAN router communicatively coupled to the second cellular router, the console, and the video decoder, the second LAN router configured to route Ethernet communications between the second cellular router, the console, and the video decoder, the video decoder communicatively coupled to the video monitor, the video decoder configured to receive communication of the video signal from the second LAN router via Ethernet and transmit the video signal to the video monitor via HDMI.

[0058] [Example 4] A system described in any of Examples 1 to 3, comprising an optical fiber receiver communicatively coupled to the first LAN router and located within the restricted area, and an optical fiber transmitter communicatively coupled to the first cellular router and located outside the restricted area, wherein the optical fiber receiver and the optical fiber transmitter are capable of communication from within the restricted area to outside the restricted area via an optical fiber cable.

[0059] [Example 5] A system described in any one of Examples 1 to 4, characterized in that the automated equipment comprises a robotic welding head and the process is a welding process.

[0060] [Example 6] A system described in any of Examples 1 to 5, wherein the real-time view of the process includes video of a weld pool.

[0061] [Example 7] A system described in any of Examples 1 to 6, characterized in that the actions changed by the operator include at least one of manipulating the positioning of the welding wire to control the weld pool, adjusting the feed rate of the welding wire to control the weld pool, adjusting the positioning of the tungsten to control the welding arc, and steering the robotic welding head.

[0062] [Example 8] A method as described in any one of Examples 1 to 7, characterized in that the welding process is a process for welding a spent fuel canister lid, and the restricted area is a containment vessel building of a nuclear power plant.

[0063] [Example 9] A system described in any of Examples 1 to 8, characterized in that the first cellular router and the second cellular router are further configured to detect multiple cellular networks, and the first cellular router and the second cellular router automatically communicate using an alternative cellular network among the multiple cellular networks when a signal loss occurs in any of the cellular routers.

[0064] [Example 10] A system described in any of Examples 1 to 9, wherein the automated equipment is configured to transition to a safe state when a loss of signal occurs for all of the multiple cellular networks.

[0065] [Example 11] A method for remote control of an automated device, comprising the steps of: executing a process in a restricted location using the automated device configured to operate based on predetermined programming; and communicating operating parameters of the predetermined programming between an operator console including a human-machine interface (HMI) and the automated device; wherein a first cellular router located outside the restricted location is communicatively coupled to the automated device; a second cellular router located remotely from the first cellular router is communicatively coupled to the operator console; the first cellular router is configured to communicate with the second cellular router using a cellular network; and an operator uses the HMI to change the operating parameters communicated between the operator console and the automated device, thereby changing the operation of the automated device in real time.

[0066] [Example 12] The method described in Example 11, further comprising the steps of monitoring a process in the restricted area using at least one camera mounted on an automated device and generating a video signal based on the monitored process, and displaying a real-time view of the process on a video monitor mounted on the console based on the video signal, wherein the real-time view of the process is used to assist an operator in making decisions while changing operating parameters.

[0067] [Example 13] The method described in Example 11 or Example 12, further comprising a step of communicating the operating parameters between a PLC console and a first LAN router, the PLC console being communicatively coupled to the automation equipment and the PLC configured to enable communication of the operating parameters via Ethernet, the method further comprising the steps of receiving the video signal from the at least one camera by a video switching device provided in the PLC and transmitting the video signal to a video encoder by the video switching device, transmitting the video signal to the first LAN router by the video encoder configured to enable communication of the video signal via Ethernet, routing Ethernet communication between the PLC, the video encoder, and the first cellular router by the first LAN router, routing Ethernet communication between the second cellular router, the operator console, and the video decoder by a second LAN router, and receiving the video signal via Ethernet by the video decoder and transmitting the video signal to a video monitor by the video decoder via HDMI.

[0068] [Example 14] A method described in any of Examples 11 to 13, further comprising a step of communicating from inside the restricted area to outside the restricted area via an optical fiber cable, wherein an optical fiber receiver located inside the restricted area is communicatively coupled to the first LAN router, and an optical fiber transmitter located outside the restricted area is communicatively coupled to the first cellular router.

[0069] [Example 15] The method according to any one of Examples 11 to 14, wherein the automated equipment comprises a robotic welding head and the process is a welding process.

[0070] [Example 16] The method described in any one of Examples 11 to 15, wherein the real-time view of the process includes video of the weld pool.

[0071] [Example 17] A method described in any of Examples 11 to 16, characterized in that changing the operation of the automated equipment includes at least one of manipulating the positioning of a welding wire to control a weld pool, adjusting the feed rate of a welding wire to control the weld pool, adjusting the positioning of tungsten to control a welding arc, and steering the robotic welding head.

[0072] [Example 18] A method described in any of Examples 11 to 17, characterized in that the welding process is a process for welding a spent fuel canister lid and the restricted area is a containment vessel building of a nuclear power plant.

[0073] [Example 19] A method described in any of Examples 11 to 18, further comprising the steps of detecting multiple cellular networks by the first cellular router and the second cellular router, and automatically communicating using an alternative cellular network among the multiple cellular networks when a signal loss occurs in any of the cellular routers.

[0074] [Example 20] A method described in any of Examples 11 to 19, further comprising a step of transitioning the automated equipment to a safe state when a loss of signal occurs for all of the plurality of cellular networks.

[0075] All patents, patent applications, publications, or other disclosure materials mentioned in this application are incorporated herein by reference in their entirety, just as if each reference were expressly incorporated herein by reference. All references and any material, or portions thereof, stated to be incorporated herein by reference are incorporated herein only to the extent that they do not conflict with existing definitions, statements, or other disclosure materials set forth herein. Accordingly, to the extent necessary, the disclosure set forth herein supersedes any conflicting material incorporated herein by reference, and the disclosure set forth herein expressly takes precedence.

[0076] The present disclosure has been described with reference to various examples and exemplary embodiments. The embodiments described herein should be understood to illustrate exemplary features of various embodiments of the present disclosure at varying levels of detail. Thus, unless otherwise specified, it should be understood that, to the extent possible, one or more features, elements, components, parts, components, structures, modules, and / or aspects of a disclosed embodiment can be combined, separated, substituted, and / or rearranged with one or more other features, elements, components, parts, components, structures, modules, and / or aspects of the disclosed embodiment without departing from the scope of the present disclosure. Accordingly, those skilled in the art will appreciate that various substitutions, modifications, or combinations are possible in any of the exemplary embodiments without departing from the scope of the present disclosure. Those skilled in the art will also recognize, upon review of this specification, many equivalents to the various embodiments of the present disclosure, or will be able to ascertain such equivalents using no more than routine experimentation. Thus, the present disclosure is limited by the claims, not by the description of the various embodiments.

[0077] Generally, those skilled in the art will understand that terms used in this application, particularly in the appended claims (e.g., the body of the appended claims), are generally intended as "open" terms (e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "including but not limited to," etc.). Furthermore, those skilled in the art will understand that if a specific number of recitations introduced in a claim are intended, such an intention will be expressly set forth in the claim; otherwise, no such intention exists. For example, as an aid to understanding, the appended claims may use the introductory phrases "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be construed as suggesting that when a claim recitation is introduced by the indefinite article "a" or "an," any particular claim containing such introduced claim recitation is limited to claims containing only one such recitation, even if the same claim contains both an introductory phrase such as "one or more" or "at least one" and an indefinite article such as "a" or "an" (e.g., "a" and / or "an" should ordinarily be construed to mean "at least one" or "one or more"). The same applies when a definite article is used to introduce claim recitation.

[0078] Furthermore, even when a specific number of recitations introduced in a claim is explicitly recited, those skilled in the art will understand that such recitation should generally be interpreted to mean at least the recited number (e.g., "two recitations" without any other modifier generally means at least two recitations, or more than two recitations). Furthermore, in instances where a conventional expression similar to "at least one of A, B, and C, etc." is used, such syntax is generally intended to mean the meaning that a person skilled in the art would understand the conventional expression (e.g., "a system having at least one of A, B, and C" includes, but is not limited to, systems having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C, etc.). Furthermore, in instances where conventional language similar to "at least one of A, B, or C, etc." is used, such syntax is generally intended in the sense that one of ordinary skill in the art would understand the conventional language (e.g., "a system having at least one of A, B, or C" includes, but is not limited to, systems having only A, only B, only C, both A and B, both A and C, both B and C, and / or all of A, B, and C, etc.). Those of ordinary skill in the art will also understand that disjunctive words and / or phrases expressing two or more alternative terms, wherever they appear in the specification, claims, or drawings, should be understood to contemplate the possibility of including one of the terms, either of the terms, or both of the terms, unless the context requires otherwise. For example, the phrase "A or B" will generally be understood to include the possibilities of "A," "B," or "A and B."

[0079] With respect to the appended claims, those skilled in the art will understand that the actions recited therein may generally be performed in any order. Additionally, while the claims are presented in a sequence, it will be understood that various actions may be performed in other orders than those recited, or may be performed simultaneously. Examples of such alternative orderings may include overlapping, interrupting, interrupting, reordering, incremental, preliminary, additional, simultaneous, reverse, or other orderings, unless the context requires otherwise. Furthermore, terms such as "responsive to," "related to," and other past-tense adjectives are not generally intended to exclude such variations, unless the context requires otherwise.

[0080] It is worth noting that references to "one aspect," "an aspect," "an exemplification," "one exemplification," etc. mean that a particular feature, structure, or characteristic described in connection with that aspect is included in at least one aspect. Thus, the appearances of the phrases "in one aspect," "in an aspect," "in an exemplification," and "in one exemplification" in various places throughout this application do not necessarily all refer to the same aspect. Furthermore, particular features, structures, or characteristics may be combined in any suitable manner in one or more aspects.

[0081] As used herein, the singular forms "a," "an," and "the" include the plural forms as well, unless the context clearly dictates otherwise.

[0082] By way of non-limiting example, directional terms such as top, bottom, left, right, below, above, front, back, and variations thereof used herein relate to the geometric arrangement of elements as shown in the accompanying drawings and do not limit the scope of the claims herein, unless specifically stated otherwise.

[0083] As used in this disclosure, unless otherwise specified, the term "about" or "approximately" refers to an acceptable error for a particular value as determined by one of ordinary skill in the art, which may depend in part on how the value is measured or determined. In certain embodiments, the term "about" or "approximately" refers to a range of 1, 2, 3, or 4 standard deviations. In certain embodiments, the term "about" or "approximately" refers to a range of within 50%, 200%, 105%, 100%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, or 0.05% of a given value.

[0084] As used herein, unless otherwise indicated, all numerical parameters are to be understood as being prefaced and modified in all instances by the term "about." Numerical parameters, however, possess inherent variability characteristic of the underlying measuring techniques employed to evaluate such parameters. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter set forth herein should at least be construed in light of the number of reported significant digits and by applying ordinary rounding approaches.

[0085] All numerical ranges recited herein are intended to include all subranges subsumed within the recited range. For example, a range "1 to 100" includes all subranges between the recited minimum value of 1 and the recited maximum value of 100 (both inclusive). That is, the minimum value is greater than or equal to 1 and the maximum value is less than or equal to 100. All ranges recited herein are also intended to include the endpoints of the recited range. For example, the range "1 to 100" includes the endpoints 1 and 100. Each maximum limit recited herein is intended to include every subrange subsumed therein, and each minimum limit recited herein is intended to include every subrange subsumed therein. Accordingly, applicants reserve the right to amend this specification, including the claims, to explicitly recite any subranges subsumed within any explicitly recited range. All such ranges are expressly expressly set forth herein.

[0086] Any patent application, patent, non-patent publication, or other disclosure material referenced in this application and / or listed in any Application Data Sheet is incorporated herein by reference to the extent the incorporated material is not inconsistent with this application. Therefore, to the extent necessary, the disclosure material expressly set forth in this application shall supersede any conflicting material incorporated herein by reference. Any content, or portion thereof, that conflicts with existing definitions, opinions, or other disclosure material set forth in this application shall be incorporated herein by reference, but only to the extent that no conflict arises between the incorporated material and the existing disclosure.

[0087] The words "comprise" and its derivatives (e.g., "comprises," "comprising"), "have" and its derivatives (e.g., "has," "having"), "include" and its derivatives (e.g., "includes," "including"), and "contain" and its derivatives (e.g., "contains," "containing") are open-ended linking verbs. That is, a system that "comprises," "has," "contains," or "contains" one or more elements has, but is not limited to, having only, that one or more elements. Similarly, a system, device, or equipment element that "comprises," "has," "contains," or "contains" one or more features has, but is not limited to, having only that one or more features.

Claims

1. 1. A system for remote control of automated equipment, comprising: automated equipment configured to perform processes in the containment building by performing operations based on predetermined programming; a first cellular router communicatively coupled to the automation equipment and located outside the containment vessel building; a second cellular router configured to communicate with the first cellular router using a cellular network and located remotely from the first cellular router; an operator console communicatively coupled to the second cellular router, the operator console including a human machine interface (HMI) that allows an operator to modify the operation of the automated equipment in real time by changing operating parameters of the predetermined programming, the changes in the operating parameters being communicated between the operator console and the automated equipment; A system for remote control of automated equipment in which the structure of the containment vessel building prevents transmission of wireless signals from inside the containment vessel building to outside the containment vessel building.

2. the automated equipment includes at least one camera configured to monitor the process and generate a video signal; 2. The system of claim 1, wherein the operator console includes a video monitor that displays a real-time view of the process based on the video signal, the real-time view of the process being used to assist an operator in making decisions while modifying operating parameters.

3. 3. The system of claim 2, a programmable logic controller (PLC) communicatively coupled to the automated equipment and configured to communicate operational parameters via Ethernet; the PLC further comprises a video switcher communicatively coupled to the at least one camera, the video switcher configured to receive the video signal generated by the at least one camera; a video encoder communicatively coupled to the video switcher, the video encoder configured to receive the video signal from the video switcher and enable communication of the video signal over Ethernet; a first LAN router communicatively coupled to the PLC, the video encoder, and the first cellular router, the first LAN router configured to route Ethernet communications between the PLC, the video encoder, and the first cellular router; a second LAN router communicatively coupled to the second cellular router, the console, and the video decoder, the second LAN router configured to route Ethernet communications between the second cellular router, the console, and the video decoder; 3. The system of claim 2, wherein the video decoder is communicatively coupled to the video monitor, and the video decoder is configured to receive communication of the video signal from the second LAN router via Ethernet and transmit the video signal to the video monitor via HDMI.

4. 4. The system of claim 3, a fiber optic receiver communicatively coupled to the first LAN router and located within the containment vessel building; a fiber optic transmitter communicatively coupled to the first cellular router and located outside the containment vessel building; 4. The system of claim 3, wherein the fiber optic receiver and the fiber optic transmitter are capable of communicating from inside the containment building to outside the former containment building via a fiber optic cable.

5. 3. The system of claim 2, wherein said automated equipment comprises a robotic welding head and said process is a welding process.

6. The system of claim 5 , wherein the real-time view of the process includes a video of a weld pool.

7. The operation to be changed by the operator is manipulating the positioning of the welding wire to control the weld pool; adjusting a welding wire feed rate to control the weld pool; adjusting the positioning of the tungsten to control the welding arc; 7. The system of claim 6, further comprising at least one of: steering said robotic welding head.

8. 6. The system of claim 5, wherein the welding process is a process for welding a lid to a spent fuel canister.

9. the first cellular router and the second cellular router are further configured to detect a plurality of cellular networks; 3. The system of claim 2, wherein the first cellular router and the second cellular router automatically communicate using an alternate cellular network from the plurality of cellular networks in the event of a signal loss at any cellular router.

10. 10. The system of claim 9, wherein the automated equipment is configured to transition to a safe state upon a loss of signal for all of the plurality of cellular networks.

11. 1. A method for remote control of an automated device, comprising: performing a process in the containment building using automated equipment configured to operate based on predetermined programming; communicating predetermined programming operating parameters between an operator console including a human machine interface (HMI) and the automated equipment; a first cellular router located outside the containment vessel building is communicatively coupled to the automation equipment; a second cellular router located remotely from the first cellular router is communicatively coupled to the console; the structure of the reactor containment vessel building prevents wireless signals from being transmitted from inside the reactor containment vessel building to outside the reactor containment vessel building; the first cellular router is configured to communicate with the second cellular router using a cellular network; A method in which an operator uses an HMI to change the operation of the automated equipment in real time by changing operating parameters communicated between the operator console and the automated equipment.

12. 12. The method of claim 11, monitoring a process in the containment building using at least one camera mounted on an automated device and generating a video signal based on the monitored process; displaying a real-time view of the process on a video monitor mounted on the console based on the video signal; 12. The method of claim 11, wherein the real-time view of the process is used to assist an operator in making decisions while modifying operating parameters.

13. 13. The method of claim 12, and communicating the operating parameters between a PLC console and a first LAN router, the PLC console being communicatively coupled to the automation equipment and the PLC configured to enable communication of the operating parameters over Ethernet; receiving the video signal from the at least one camera by a video switching device included in the PLC, and transmitting the video signal to a video encoder by the video switching device; transmitting the video signal to the first LAN router by the video encoder configured to enable communication of the video signal over Ethernet; routing, by the first LAN router, Ethernet communications between the PLC, the video encoder, and the first cellular router; routing, by a second LAN router, Ethernet communications between the second cellular router, the console, and a video decoder; 13. The method of claim 12, further comprising the steps of: receiving, by said video decoder, said video signal over Ethernet; and transmitting, by said video decoder, said video signal over HDMI to a video monitor.

14. further comprising communicating from inside the containment vessel building to outside the containment vessel building via an optical fiber cable; a fiber optic receiver located inside the containment vessel building is communicatively coupled to the first LAN router; 14. The method of claim 13, wherein a fiber optic transmitter located outside the containment building is communicatively coupled to the first cellular router.

15. 13. The method of claim 12, wherein the automated equipment comprises a robotic welding head and the process is a welding process.

16. The method of claim 15 , wherein the real-time view of the process includes an image of a weld pool.

17. Modifying the operation of the automated device comprises: manipulating the positioning of the welding wire to control the weld pool; adjusting a welding wire feed rate to control the weld pool; adjusting the positioning of the tungsten to control the welding arc; The method of claim 16 including at least one of steering the robotic welding head.

18. The method of claim 15, wherein the welding process is a process for welding a lid to a spent fuel canister.

19. detecting a plurality of cellular networks by the first cellular router and the second cellular router; 13. The method of claim 12, further comprising automatically communicating using an alternative cellular network of the plurality of cellular networks in the event of a loss of signal at any of the cellular routers.

20. 20. The method of claim 19, wherein the automated equipment is further configured to transition to a safe state upon a loss of signal for all of the plurality of cellular networks.

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