LAROB: Laser-Guided Underwater Mobile Robot for Reactor Vessel Inspection

Kim, Jaehee; Lee, Jaecheol; Choi, You-Rack

doi:10.1109/tmech.2013.2276889

Cited by 25 publications

(12 citation statements)

References 12 publications

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“…120 the nuclear industry for a variety of tasks such as defect detection [1,7,8] and repair [9,10], accident response [11] and reactor decommissioning [12] across many reactor designs such as the AGR, the Canada Deuterium Uranium (CANDU) 125 reactor, Boiling Water Reactor (BWR) and the Pressurized Water Reactor (PWR). With each reactor having unique architectural characteristics, application-specific equipment is often developed to visually inspect a variation of life-limited compo-130 nents pertinent to each aforementioned reactor design.…”

Section: Rvi and Visualisation Is Deployed Throughoutmentioning

confidence: 99%

“…A variation of RVI methodologies are deployed such as Ultrasonic tools to investigate weld joints [13] in the Reactor Pressure Vessel (RPV) and de-135 fects in CANDU pressure tubes [7], bespoke underwater robotic camera systems to investigate the PWR RPV [10] and lower core plates [9], pipe inspection robots for feeder pipes in the Pressurized Heavy Water Reactor (PHWR) and tethered inspection tools used within the AGR fuel channels and control rods [2,3,1]. The majority of visualisation techniques however are limited to using signal and 2-D image processing to evaluate components within the respective reactor designs, with 3-D visualization techniques only being recently deployed to evaluate Fukushima [11,12] to assess reactor station damage.…”

Section: Rvi and Visualisation Is Deployed Throughoutmentioning

confidence: 99%

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3-D visualization of AGR fuel channel bricks using Structure-from-Motion

Law

West

Murray

et al. 2020

Nuclear Engineering and Design

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Section: Rvi and Visualisation Is Deployed Throughoutmentioning

confidence: 99%

Section: Rvi and Visualisation Is Deployed Throughoutmentioning

confidence: 99%

3-D visualization of AGR fuel channel bricks using Structure-from-Motion

Law

West

Murray

et al. 2020

Nuclear Engineering and Design

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“…1 Many forms of locomotion have been employed, including arms and legs (limbs), 2 –4 wheels and chains, 5 a sliding frame, 6 and wires and rails. 7 As with locomotion, a number of types of adhesion have also been used, depending on the given task, including magnetic adhesion, 8 –10 pneumatic adhesion, 11 mechanical adhesion, 12 –15 electrostatic adhesion, 16 and chemical adhesion. 17…”

Section: Introductionmentioning

confidence: 99%

PiROB: Vision-based pipe-climbing robot for spray-pipe inspection in nuclear plants

Kim

Lee

Choi

2018

International Journal of Advanced Robotic Systems

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Among many pipes in a nuclear power plant, the spray pipes in the reactor building are one of the most important pipes in view of their function and safety aspects. However, it is very difficult to manually reach and inspect the pipes for defects or damage, because these pipes are installed in very high places. To carry out this kind of inspection more easily, we developed a mobile robot to climb up and down and to cross over such pipes. A mobile robot should be small and light enough that it can be practically and safely operated in a nuclear power plant. Our robot is able to overcome obstacles such as valves, pipe flanges, and T-shaped branches, and it also meets the requirements of fail-safe, autonomous grasping, and self-power without the cables to the remote control station. The robot has a five-degree-of-freedom manipulator and two grippers and moves along the cylindrical pipes bypassing the obstacles. The robot should be able to grasp the next pipe autonomously, because the robot works in places high off the ground where the remote operator cannot see the next pipe for the robot to grasp. This article proposes a vision-based scheme for grasping a cylindrical pipe semiautonomously and describes its solution along with the forward kinematics and inverse kinematics of the mobile robot. The configuration of the pipe-climbing robot, including its hardware and software, is described, and the robot control with visual grasping is explained. The robot can be used practically for spray-pipe inspection as well as many potential other applications, such as inspection of the roof frame of a stadium consisting of pipes.

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“…ProportionalIntegral-Derivative (PID) controllers are widely used in the industry as well as in the control of mobile robots. The paper [4] has introduced a laser guidance control based on a PD controller to inspect the welds in a nuclear power plant. To avoid collisions, the potential field method is used as discussed in [5], where an attractive force and a repulsive force applied to the robot are generated by the target position and the obstacles, respectively.…”

Section: Introductionmentioning

confidence: 99%

Shared Control for the Kinematic and Dynamic Models of a Mobile Robot

Jiang

Franco

Astolfi

2016

IEEE Trans. Contr. Syst. Technol.

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Abstract-This paper presents shared-control algorithms for the kinematic and the dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available. Instead, we measure the distances to obstacles and angular differences. Formal properties of the closed-loop systems with the sharedcontrol are established by a Lyapunov-like analysis. Simulation results and experimental results are presented to show the effectiveness of the algorithm.

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LAROB: Laser-Guided Underwater Mobile Robot for Reactor Vessel Inspection

Cited by 25 publications

References 12 publications

3-D visualization of AGR fuel channel bricks using Structure-from-Motion

3-D visualization of AGR fuel channel bricks using Structure-from-Motion

PiROB: Vision-based pipe-climbing robot for spray-pipe inspection in nuclear plants

Shared Control for the Kinematic and Dynamic Models of a Mobile Robot

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