Underwater wall climbing robot for nuclear pressure vessel inspection

Conference paper

Rodriguez, H, Sattar, T and Shang, J (2008). Underwater wall climbing robot for nuclear pressure vessel inspection. 2008 International Conference on Climbing and Walking Robots. Coimbra, Portugal 05 - 08 Sep 2008 World Scientific Publishing. pp. 605-612
AuthorsRodriguez, H, Sattar, T and Shang, J
TypeConference paper
Abstract

The paper describes the development of an underwater teleoperated wall climbing robot that can carry another pipe crawler robot to nozzle openings inside a nuclear pressure vessel CPV). The wall climbing robot is positioned over each nozzle in the pressure vessel via teleoperation using visual feedback. The pipe crawler robot then transfers into the nozzle where it non-destructively tests circumferential welds located at a distance of 700mm from the inside walls of a pressure vessel. The results of trials with the robot in water tanks and a mock-up of the PV are presented. The paper describes the performance of the two underwater wall climbing robot prototypes, with emphasis on the design of a highly manoeuvrable robot and the performance of a special design of suction cups that have a low coefficient of friction and permit motion in cylindrical pressure vessels. Copyright © 2008 by World Scientific Publishing Co. Pte. Ltd.

Year2008
Journal11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Coimbra, Portugal
PublisherWorld Scientific Publishing
Accepted author manuscript
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Publication dates
Print05 Sep 2008
Publication process dates
Deposited02 Jan 2019
Accepted05 Sep 2008
ISBN9812835768
Page range605-612
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https://openresearch.lsbu.ac.uk/item/87q7v

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Accepted author manuscript
71. CLAWAR 2008 Underwater wall climbing robot.pdf
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Deployment of laser cutting head with wall climbing robot for nuclear decommissioning
Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012