Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2012
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| Online Access: | http://hdl.handle.net/1721.1/74449 |
| _version_ | 1811084527946170368 |
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| author | Lozano, Martin, Jr |
| author2 | H. Harry Asada. |
| author_facet | H. Harry Asada. Lozano, Martin, Jr |
| author_sort | Lozano, Martin, Jr |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. |
| first_indexed | 2024-09-23T12:52:24Z |
| format | Thesis |
| id | mit-1721.1/74449 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T12:52:24Z |
| publishDate | 2012 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/744492019-04-12T09:29:13Z Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems Lozano, Martin, Jr H. Harry Asada. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012. Cataloged from PDF version of thesis. Includes bibliographical references (p. 59-60). 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. by Martin Lozano, Jr.. S.B. 2012-10-26T18:09:48Z 2012-10-26T18:09:48Z 2012 2012 Thesis http://hdl.handle.net/1721.1/74449 813312502 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 60 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Lozano, Martin, Jr Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems |
| title | Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems |
| title_full | Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems |
| title_fullStr | Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems |
| title_full_unstemmed | Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems |
| title_short | Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems |
| title_sort | design and control of a spheroidal underwater robot for the inspection of nuclear piping systems |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/74449 |
| work_keys_str_mv | AT lozanomartinjr designandcontrolofaspheroidalunderwaterrobotfortheinspectionofnuclearpipingsystems |