HTP Graphics

RAIN PROGRESS // The design of the robotic module has progressed through multiple iterations to reach the current concept. The initial focus was on developing a single robot module with the required level of mobility to navigate a t-section, which is typically difficult pipe geometry for an in-pipe robot. Through the RAIN Hub, we gained detailed information on the pipe environment and potential contaminants which facilitated a detailed analysis on wheel types, with the aim to gain optimal traction on the pipe walls with different levels of contamination. The core concept of the robot module is based on a medical robot previously developed at Leeds, designed for inspection of the colon; this was miniaturised further and refined for use within a pipe network. Each module consists of six independently- actuated wheels sprung outwards to press into the pipe walls, arranged in an orientation that allows a high level of positional mobility. The current system has a demonstrated maximum in-pipe speed of 20 mm/s and operational range of 2 metres, with a target range between 20 – 50 meters. It has also demonstrated a high success rate when navigating pipe t-sections. FUTURE ASPIRATIONS // Current work is concerned with the systems required to control the interaction between multiple robot modules in the pipe, and the design of the tether to increase deployment range. An intuitive graphical user interface (GUI) is being developed to aid data management and make the system user-friendly with minimal user training. The RAIN Hub has led to a collaboration with Glasgow University who are developing a miniature radiation sensor. This sensor will be added as a payload to our robot and integrated within the system. We aim to demonstrate the robot navigating a pipe network in a test environment with radioactive sources, representative of the pipes at Sellafield Ltd, with the radiation sensor equipped and providing effective radiation mapping. The project will continue with guidance from Sellafield Ltd, providing advice from a future end user perspective, with the aim of increasing the technology readiness level of the robot and eventual aim of commercialisation. The current concept presents a series of robot modules spaced out along the length of a tether, each with independent orientation and positional control. The wheels of each module can be retracted to effectively reduce the outer diameter, allowing access to an entry point smaller than the pipe bore, or navigation around small pipe blockages. The robot modules can carry a payload attached to the tether, in the form of a miniature radiation sensor or other sensing equipment, allowing real-time location and monitoring of radiation in the pipe. REMOTE INSPECTION 43

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