Abstract
For the inspection and decontamination of radioactivity at the inner wall of a research nuclear reactor tank, an underwater robot system is developed. The robot is actuated by five servo controlled propellers. To accomplish agile navigation along the wall surface, the robot is equiped with a range of sensors and a nonlinear thrust control method is developed. Using a two degrees-of-freedom manipulator mounted on the mobile basis, inspection and decontamination tasks can effectively be carried out. Upon functional verification and enhancement, the robot system will be used for dismantling a life ended research reactor, TRIGA MARK III.
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© 1998 Springer-Verlag London Limited
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Park, Y.S., Park, G.Y., Yoon, J., Lee, B.J., Oh, W.Z. (1998). Design and Control of Underwater Wall Ranging Robot for Inspection of Nuclear Reactor. In: Zelinsky, A. (eds) Field and Service Robotics. Springer, London. https://doi.org/10.1007/978-1-4471-1273-0_38
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DOI: https://doi.org/10.1007/978-1-4471-1273-0_38
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1275-4
Online ISBN: 978-1-4471-1273-0
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