Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Robaru, Mini Underwater Robot for Survey of Reactor

Version 1 : Received: 5 October 2020 / Approved: 6 October 2020 / Online: 6 October 2020 (13:52:02 CEST)

How to cite: Syam, R.; Bakhri, S.; Hayat, A.; Samman, F.A.; Hamdani, H. Robaru, Mini Underwater Robot for Survey of Reactor. Preprints 2020, 2020100130 (doi: 10.20944/preprints202010.0130.v1). Syam, R.; Bakhri, S.; Hayat, A.; Samman, F.A.; Hamdani, H. Robaru, Mini Underwater Robot for Survey of Reactor. Preprints 2020, 2020100130 (doi: 10.20944/preprints202010.0130.v1).

Abstract

A nuclear reactor leak is undesirable and unpredictable occurrence in the plant of nuclear energy generation. For this reason, an accurate equipment is needed to inspect and supervise reactors. There are two kind of reactors for research and industry reactors, both of them are needed to inspect. Concern to inspection, regularly check is needed to ensure reactor conditions are always safe to operate. For that reason, an application of advanced technology for detecting leaks is priority. In this research, we are using underwater robot to be implemented. Using the robot is able to detect periodically, continuously with accurate reports to the operator or reactor supervisor. Furthermore, Underwater Robot namely Robaru, with 4 propellers equipped at the robot, Robaru can move on 3 axes x, y and z and rotate. The use of cameras, as well as temperature measurements to obtain data when conducting inspections of the reactor. The survey method used is direct observation to detect leaks. The robot is at a certain distance by following a predetermined connection or path. The robot has successfully performed a good check with an accurate level of positioning accuracy.

Subject Areas

underwater robot; control system; reactor; survey

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