Eversion Robots for Mapping Radiation in Pipes

Abstract-- 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 and 90 swept bends as well as constrictions that were used to model partial blockages. Most caps are made from rigid materials spaces is one such area for which robotic solutions and fully encase the tip [4, 5], limiting the size of the have been developed [1]. However, the deployment of in-situ aperture they can fit through and undermining the eversion inspection solutions to the pipes and ducts that riddle these robot's ability to squeeze through spaces smaller than itself. Their A soft, fabric solution exists [6], but that can have difficulties uses ranged from ventilation to waste drainage and many are remaining in place while the robot retracts.