Eversion and Growing Robots: Pipe Navigation, Inspection and Characterisation

外翻和种植机器人：管道导航、检查和表征

• 批准号: 2733916
• 金额: --
• 依托单位: Queen Mary University of London
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2022
• 资助国家: 英国
• 起止时间: 2022 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2733916
• 关键词: Eversion; Growing; Robots; Pipe; Navigation

The key outcome of the PhD project is to develop a robot to navigate, inspect and characterise a highly complex pipework environment with radiological contamination. The stretch goal will be for the robot to successfully deliver and recover an instrument to/from the end of the robot's traversed path.Eversion robotics for nuclear decommissioning holds the promise of developing novel procedures and instrumentation for inspection, characterisation, manipulation and intervention through, behind and in complex confined contaminated and hazardous spaces including pipes.Soft robotics employs a different approach offering the possibility to overcome some challenges and possessing novel characteristics. Soft eversion robots are highly flexible, growing into the space available for them, making it possible to navigate through structures of radically different sizes and with complex geometries. The nature of the robots benefits from contact with its surroundings, a feature which can be used to stabilise structures, provide a permanent navigable path for other resources and the possibility of removing or fixing decontamination as part of the navigation.

博士项目的主要成果是开发一种机器人，用于导航，检查和修复具有放射性污染的高度复杂的管道环境。延伸目标将是机器人成功地将仪器运送到机器人穿越路径的末端，并从机器人穿越路径的末端回收仪器。用于核退役的外翻机器人技术有望通过以下方式开发用于检查、表征、操纵和干预的新型程序和仪器：后面和复杂的封闭污染和危险空间，包括管道。软机器人采用不同的方法提供了可能性，克服了一些挑战，具有新的特点。软翻转机器人具有高度灵活性，可以生长到它们可用的空间中，使其能够在尺寸截然不同且具有复杂几何形状的结构中导航。机器人的性质受益于与周围环境的接触，这一特征可用于稳定结构，为其他资源提供永久的可导航路径，并可能作为导航的一部分去除或固定去污。