Eversion Robots for Mapping Radiation in Pipes

TL;DR

This paper presents a system using eversion robots equipped with radiation sensors to map irradiated pipes, demonstrating successful navigation and detection in simulated pipe structures with bends and blockages.

Contribution

It introduces a novel eversion robot system with integrated radiation sensing and tests its ability to navigate complex pipe geometries.

Findings

Successful detection of dummy radiation sources inside pipes.

Effective navigation through sharp bends and constrictions.

Potential for use in pipe decommissioning and radiation mapping.

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{\deg} and 90{\deg} swept bends as well as constrictions that were used to model partial blockages.