NDLI: A compact, maneuverable, underwater robot for direct inspection of nuclear power piping systems

Content Provider	IEEE Xplore Digital Library
Author	Mazumdar, A. Lozano, M. Fittery, A. Asada, H.H.
Copyright Year	2012
Description	Author affiliation: Faculty of Mechanical Engineering, MIT, 77 Massachusetts Ave., Cambridge, 02139, USA (Asada, H.H.) \|\| Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, 02139, USA (Mazumdar, A.; Lozano, M.; Fittery, A.)
Abstract	There is an increasing need for the inspection of nuclear power plants worldwide. To access complex underwater structures and perform non-destructive evaluation, robots must be tetherless, compact, highly maneuverable, and have a smooth body shape with minimal appendages. A new water jet propulsion system using fluidic valves coupled with centrifugal pumps is developed for precision maneuvering. A hybrid control system that combines continuous pump regulation and discrete Pulse Width Modulation (PWM) of fluidic valves is proposed. This control scheme provides high accuracy, high bandwidth, and flexibility in maneuvering control. First, the functional requirements for nuclear power plant inspection are discussed, followed by the basic design concept of an inspection robot. Miniaturized Coanda-effect valves are designed and built based on CFD and mathematical analysis. The hybrid control system incorporating the pump/valve system is designed and tested. Experimental results illustrate that the hybrid control scheme holds substantial promise and is capable of very precise orientation control. Based on these, a full 4-DOF robot is designed, and its key components are described.
Starting Page	2818
Ending Page	2823
File Size	1831560
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224619
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Valves Inspection Pulse width modulation Vehicles Robots Force Voltage control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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