Design and Fabrication of a Nuclear Dry Cask Inspection Robot: Integrating Laser Induced Breakdown Spectroscopy and Electromagnetic Active Transducer Measurement Methods
This thesis describes the design, construction, and testing of a robotic dry cask inspection system. The system is capable of entering the dry storage cask, maneuvering around the interior of the cask, taking measurements of the storage canister, and then exiting the cask for retrieval and reuse. The integrated sensors include Laser Induced Breakdown Spectroscopy (LIBS), Electromagnetic Active Transducers (EMATs), temperature measurement probes, and a Geiger-Muller counter, allowing characterization of the canister surface degradation, material composition, weld quality, temperature, and radiation. The system is controlled remotely through a computer GUI and integrates measurements from all sensors through a local area network. The system is designed for fault-robust recovery from with the cask, and to prevent operator exposure to radiation.
