Novel Roaming and Stationary Tethered Aerial Robots for Continuous Mobile Missions in Nuclear Power Plants

Beom W. Gu, Su Y. Choi, Young Soo Choi, Guowei Cai, Lakmal Seneviratne, Chun T. Rim

Research output: Contribution to journalArticlepeer-review

18 Scopus citations

Abstract

In this paper, new tethered aerial robots including roaming tethered aerial robots (RTARs) for radioactive material sampling and stationary tethered aerial robots (STARs) for environment monitoring are proposed to meet extremely-long-endurance missions of nuclear power plants. The flight of the proposed tethered aerial robots may last for a few days or even a few months as long as the tethered cable provides continuous power. A high voltage AC or DC power system was newly adopted to reduce the mass of the tethered cable. The RTAR uses a tethered cable spooled from the aerial robot and an aerial tension control system. The aerial tension control system provides the appropriate tension to the tethered cable, which is accordingly laid down on the ground as the RTAR roams. The STAR includes a tethered cable spooled from the ground and a ground tension control system, which enables the STAR to reach high altitudes. Prototypes of the RTAR and STAR were designed and successfully demonstrated in outdoor environments, where the load power, power type, operating frequency, and flight attitude of the RTAR and STAR were: 180 W, AC 100 kHz, and 20 m; and 300 W, AC or DC 100 kHz, and 80 m, respectively.

Original languageBritish English
Pages (from-to)982-996
Number of pages15
JournalNuclear Engineering and Technology
Volume48
Issue number4
DOIs
StatePublished - 1 Aug 2016

Keywords

  • Nuclear Power Plant Monitoring
  • Radioactive Sampling
  • Severe Accident Tethered Aerial Robot
  • Tethered Cable
  • Unmanned Aerial Vehicle

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