IB - Underwater Robot to inspect NPP - ICIT2020 скачать в хорошем качестве

IB - Underwater Robot to inspect NPP - ICIT2020

Paper title: Mechanical Design of an Underwater Robot to Inspect Closed Environments Authors: Eduardo Matías Robador, Lautaro Acha, Sol Pedre and Alejandro Tobias Quispe Mamani Affiliations: CNEA (National Commission of Atomic Energy) and IB (Balseiro Institute) Paper abstract: In this work, the design of a robotic inspection module for underwater environments is carried out. The leading motivation is the visual inspection of the inside of water containers in nuclear power plants, such as the reactor’s vessel. Usually, this task is done manually with an endoscope, which presents drawbacks such as the exposure of operators to radiation. Hence, as an alternative, the use of such a module is proposed. The main requirements for this robot are neutral buoyancy, compact size, smooth shape, and high precision, stability, and maneuverability at low speeds. This paper is focused on the development of the actuators system, which is responsible for the robot’s movements. It is decided to implement them employing two sub-systems: the propulsion system, for displacements in the space at low speeds, and the buoyancy engine, for vertical translation. Finally, the robot instrumentation and the experimental tests carried out with the manufactured prototype are also discussed. The project is actually going on and soon we will have improvements on the control of the robot's movements.