Issue link: https://htpgraphics.uberflip.com/i/1385717
LEAD RESEARCHER: NICK CASTLEDINE I completed my Ph.D. at the University of Leeds, developing a modular continuum segment for use in a general-purpose manipulator. Inspired by continuous bending biological structures like an elephant's trunk, this continuum segment was a hybrid between rigid 3D printed components and soft materials. I completed my MEng in Automotive Engineering at the University of Huddersfield, followed by three years developing subsea oilfield technologies within the oil and gas industry before specialising in robotics and beginning my Ph.D. Working within the RAIN network is useful as it has given access to information and collaboration opportunities which propel the project forward. 2" PIPE BORE EXPLORATION, INSPECTION AND CHARACTERISATION ROBOT UNIQUENESS // This robotic platform will be able to navigate and traverse around typically problematic pipe geometry for in pipe robots at this scale, such as t-sections and zero radius bends. This is half the diameter and one quarter of the cross-sectional area that current pipe robots can handle, which imposes significant design constraints and challenges. SUMMARY // This project aims to produce and demonstrate, under realistic conditions, a miniature pipe inspection robot capable of deployment and radionuclide identification within a tortuous and narrow pipe network like those that are prevalent at Sellafield Ltd. Direct in-situ characterisation will expedite the Post Operational Clean Out (POCO) stage of the decommissioning process and reduce the cost to taxpayers. This project will lay the groundwork for industrial trials to demonstrate the integrated system's capabilities to potential customers in our target nuclear decommissioning market and facilitate its commercialisation. The problem of inspecting 2" pipes is challenging due to the tight space constraints and the mobility required to move around pipe features such as t-sections or tight bends. The challenge is amplified by the possibility of contaminants within the pipes, requiring the robot to deal with varying traction on the pipe walls, potential pockets of fluid and radioactive material, while also providing real-time radiation and positional feedback to the operator. 42