An Underwater Mobile Robotic System for Reactor Vessel Inspection in Nuclear Power Plants

摘要

Reactor pressure vessels of the nuclear power platns should be inspected periodically. The conventional inspection machine with a big structural sturdy column is so bulkey and heavy that installation and maintenance of this machine are extremely difficult. To solve this problem we have developed an advanced robotic inspection system by adopting recent robotic technology. In this paper, the design of this system and the brief test results using the pressure vessel mockup are described.