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.
@article{arxiv.2307.10084,
title = {Eversion Robots for Mapping Radiation in Pipes},
author = {Thomas Mack and Mohammed Al-Dubooni and Kaspar Althoefer},
journal= {arXiv preprint arXiv:2307.10084},
year = {2023}
}
Comments
Extended abstract for ICRA2023 workshop. 2 pages, 5 figures