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Inspection ROV for Nuclear Pressure Water Reactors
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis was carried out at KTH in cooperation with the company WesDyne. The aim was to evaluate the possibility of using quadcopter technology in conjunction with visual inspection of nuclear reactor vessels. WesDyne already develops equipment for this purpose. Today the inspections are regulated by the ASME standard that sets the requirements of the inspections. The project began with a literature study to gain knowledge in the eld, followed by the development of a mathematical model. For greater advantage of the model it was chosen to build a prototype for verication. A number of eld tests were made to compare the model and prototype properties. The veried model was then used to carry out inspections simulated both by allowing a human operator but also a computer-based operator to control the model. Several tests were made in the model to evaluate dierent subsystems inuence. To evaluate real environment situations, which was not modeled, also eld tests were performed to investigate this. The conclusion drawn was that the quadcopter technology is possible to use to perform visual inspections in accordance with the ASME standard. However, there remains some work to done before reaching anished product. Development and verication of the mathematical model provides a good tool for future work.

Abstract [sv]

Detta examensarbete genomfordes pa KTH med samarbete med foretaget WesDyne. Syftet var att utvardera mojligheten att anvanda quadcopter-teknik i samband med visuell inspektion av karnreaktortankar. WesDyne utvecklar sedan tidigare utrustning for detta andamal. Dagens inspektioner regleras av en ASME-standard som staller krav pa noggrannheten av inspektionerna. Projektet inleddes med en litteraturstudie for att fordjupa kunskaperna inom omradet, foljt av framtagandeav en matematisk modell. For att fa storre nytta av modellen valdes det att byggas en prototyp for veriering. Ett antal falttester gjordes for att jamfora modellen och prototypens egenskaper. Den verierade modellen anvandes sedan for att genomfora simulerade inspektioner, bade genom att lata en mansklig operator men aven lata en datorbaserad operator styra modellen. Flertalet tester gjordes i modellen for att utvardera olika delsystems paverkan. For att utvardera verkliga situationer, som inte valdes att modelleras, gjordes aven falttester som undersokte dessa fall. Slutsatsen som drogs var att quadcopter-tekniken ar fullt mojlig att anvanda for att utfora visuella inspektioner enligt ASME-standarden. Dock aterstar det en del arbete for att na en fardig produkt. Framtagande och verieringen av den matematiska modellen ger ett bra verktyg for fortsatt utveckling.

Place, publisher, year, edition, pages
, MMK 2015:27 MDA 506
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-170817OAI: diva2:840189
Available from: 2015-10-13 Created: 2015-07-07 Last updated: 2015-10-13Bibliographically approved

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