移動ロボットarXiv:2307.10084
配管内の放射線マッピングのための反転ロボット
Eversion Robots for Mapping Radiation in Pipes
反転ロボットに放射線センサを取り付け、曲がりや狭窄のある配管内を走行させて放射線源を検出できるか検証した。
著者: Thomas Mack, Mohammed Al-Dubooni, Kaspar Althoefer
分類: cs.RO
原文アブストラクト
A system and testing rig were designed and built to simulate the use of an eversion robot equipped with a radiation sensor to characterise an irradiated pipe prior to decommissioning. The magnets were used as dummy radiation sources which were detected by a hall effect sensor mounted in the interior of the robot. The robot successfully navigated a simple structure with sharp 45{\deg} and 90{\deg} swept bends as well as constrictions that were used to model partial blockages.
