Design of Underwater Welding Robot Used in Nuclear Plant

Abstract

Through the analysis of operational requirements and environmental characteristics of nuclear power plant pool, we propose the design of underwater welding robot and establish the 3D model. Then, we introduce special functions and system composition of the robot in detail. After that, we propose the cooperation of the moving system and operating system, for the reason that the center position of gravity and buoyancy change when the operating system moves. Finally, we simply introduce control system components, control strategy and simulation results of the robot.

Collaborative Damage Detection Framework for Rail Structures Based on a Multi-Agent System Embedded with Soft Multi-Functional Sensors

“…However, navigating underwater vehicles through confined and sometimes cluttered environments is challenging. Precision movement is crucial in these environments, as vehicles must navigate through narrow passages and avoid obstacles [5].…”

Panorama mundial das pesquisas com robôs subaquáticos remotamente operados (ROV)

“…Com o aumento das publicações a partir da década de 90, a ferramenta ROV passou a ser vista não somente em suas áreas de atuação, como também no meio acadêmico e científico. Por se tratar de uma tecnologia em crescente expansão e com aplicabilidade comercial, e não somente para fins científicos e militares, os trabalhos publicados são específicos, com nível de detalhamento e riqueza e em grande maioria, inéditos (Zhang et al, 2013, Lv et al, 2014, Luo et al, 2018, Boutteau et al 2020, Htun et al, 2018, Wahab et al, 2020, Zhou & Zhao, 2020.…”

“…Os países asiáticos, China, Coreia do Sul e Japão investem seus estudos desenvolvendo novas tecnologias subaquáticas, principalmente na área nuclear (Koji, 1999, Park et al, 2009, Zhang et al, 2013, Lv et al, 2014, Luo et al, 2018. O mercado industrial e principalmente as indústrias de energia que estão inseridas em um ambiente complexo e insalubre, admitiram o uso de veículos subaquáticos remotos em suas operações, à princípio porque contribuíam para o aumento da segurança e posteriormente por sua eficiência metodológica de inspeções e economia de recursos e tempo (Koji, 1999, Cho et al, 2004, Lee et al, 2006, Gao et al 2011, Luo et al, 2018.…”

A novel localization approach for underwater welding vehicles in spent fuel pools via attitude heading reference system and altimeters

“…The underwater welding vehicles (UWVs) have been widely applied to automatic crack welding in spent fuel pools (SFPs) of the nuclear power stations. [1][2][3][4] Selflocalization of the UWV is essential for autonomous cruise and welding stability. Although much effort has been devoted to the underwater localization technology for UWVs, accurate localization in UWV operating is still challenging due to the intrinsic underwater conditions and technical restrictions in underwater welding work.…”