TY - GEN
T1 - A small climbing robot for the intelligent inspection of nuclear power plants
AU - Guan, Da
AU - Yan, Lei
AU - Yang, Yibo
AU - Xu, Wenfu
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/10
Y1 - 2014/10/10
N2 - Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed a wall-climbing robotic system for intelligent monitoring in nuclear power plants. It was made up of mechanical, control, and inspection subsystems. The robot was designed as a bipedal robot with five degrees of freedom. Supported by two suction feet, it could travel on flat and inclined surfaces, or move across different surfaces. It was actuated by an embedded controller, which was developed based on an ARM microprocessor and μc/os-ii operating systems. The controller also received and processed the telemanipulation commands from the operator. To supply complete information about the environment and key devices, the robot was equipped with optimal cameras, radiometers, barometer and thermometer. These sensors and their electrical parts constituted the inspection subsystem. At last, the robotic prototype was manufactured and experimented. Experiment results verified its flexibility and reliability.
AB - Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed a wall-climbing robotic system for intelligent monitoring in nuclear power plants. It was made up of mechanical, control, and inspection subsystems. The robot was designed as a bipedal robot with five degrees of freedom. Supported by two suction feet, it could travel on flat and inclined surfaces, or move across different surfaces. It was actuated by an embedded controller, which was developed based on an ARM microprocessor and μc/os-ii operating systems. The controller also received and processed the telemanipulation commands from the operator. To supply complete information about the environment and key devices, the robot was equipped with optimal cameras, radiometers, barometer and thermometer. These sensors and their electrical parts constituted the inspection subsystem. At last, the robotic prototype was manufactured and experimented. Experiment results verified its flexibility and reliability.
KW - Climbing robot
KW - Intelligent inspection
KW - Nuclear energy industry
KW - Nuclear robot
UR - https://www.scopus.com/pages/publications/84910598469
U2 - 10.1109/ICIST.2014.6920522
DO - 10.1109/ICIST.2014.6920522
M3 - 会议稿件
AN - SCOPUS:84910598469
T3 - ICIST 2014 - Proceedings of 2014 4th IEEE International Conference on Information Science and Technology
SP - 484
EP - 487
BT - ICIST 2014 - Proceedings of 2014 4th IEEE International Conference on Information Science and Technology
A2 - Xu, Guoqing
A2 - Qiao, Yu
A2 - Wu, Xinyu
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 4th IEEE International Conference on Information Science and Technology, ICIST 2014
Y2 - 26 April 2014 through 28 April 2014
ER -