Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems

Abstract

While it is critical that nuclear plants frequently inspect their facilities for cracking, corrosion or other failure modes, humans cannot safely perform these tasks due to the hazardous conditions within the tanks and piping systems. In response, the d'Arbeloff Laboratory in the Mechanical Engineering department is designing a compact submersible robot that is capable of precise navigation and maneuvering in order to detect defects within water filled piping systems. The robot is spheroidal with a smooth surface and no external appendages. It propels itself with centrifugal pumps which suck in water from the environment, and pump it out in various directions. This thesis covers the design and implementation of the software, electrical, and a few mechanical systems of the robot. Specifically, it details the programming techniques for the microcontroller and graphical user interface code, circuit board design, wiring, and waterproofing. A robot prototype was built, and experiments have given useful data to construct a model to supplement the field of underwater robotic design.