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Sensorfusion för undervattensrobot i kärnteknisk miljö med Kalman filtrering
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2010 (Swedish)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Sensor fusion in a nuclear environment underwater ROV using Kalman filtering (English)
Abstract [en]

WesDyne TRC AB is a fully owned subsidiary of the global Westinghouse

Electric Corporation. WesDyne is a world leader in non-invasive methods for the

inspection of nuclear power plants. One of the inspection platforms used to scan

for defects in and around the welds in the reactor vessel is called the T-crawler.

The T-crawler operates under water in a radioactive environment by stepping on

the vessel (reactor tank) inner wall using suction cups. The environment is harsh

and many traditional positioning sensors are not suitable for implementation. This

thesis investigates the possibility to use a gyroscope and a pressure sensor to

create an alternative and independent positioning system. Together with the

current positioning sensors the new sensors will be fused in a Kalman filter. The

Kalman filter together with the alternative positioning system will be evaluated

using simulated sensors in Matlab. The thesis shows that a positioning system

with a pressure sensor and a gyroscope is suitable for implementation on the Tcrawler,

but the thesis also establishes that further testing is needed to fully

evaluate the performance of the alternative positioning during a safety inspection.

Acknowledgements

Thanks to the people at WesDyne for the help and information during the thesis,

especially Lars Skoglund my supervisor, David Seery for information about the Tcrawler

and David Stenman for information about radiation and proofreading the

report. Also I would like to thank friends and family for moral support during the

thesis.

Abstract [sv]

WesDyne TRC AB är ett helägt dotterbolag till det globala Westinghouse Electric

Corporation. WesDyne är ett världsledande företag inom ickeförstörande

provning i kärnkraftverk. En av de inspektionsplattformar som används för att

söka efter fel i och kring svetsar i reaktortanken kallas T-skannern. Utrustningen

arbetar under vatten i en radioaktiv miljö genom att stega sig fram på

reaktortankväggen. Miljön är krävande och många traditionella positioneringssensorer

är inte lämpliga att implementera. Examensarbetet undersöker

möjligheten att använda ett gyroskop och en trycksensor för att skapa ett nytt

oberoende positioneringssystem. Tillsammans med det nuvarande

positioneringssystemet kommer de nya sensorerna kombineras i ett Kalman

filter. Kalman filtret tillsammans med det alternativa positioneringssystemet

utvärderas med simulerade sensorer i Matlab. Examensarbetet visar att ett

positioneringssystem med en trycksensor och ett gyroskop är lämpliga att

implementera på T-skannern, men konstaterar även att ytterligare tester behövs

för att utvärdera prestandan hos det alternativa positioneringssystemet under en

säkerhetsinspektion.

Place, publisher, year, edition, pages
2010.
Series
MMK 2010:56 MDA 365
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-99445OAI: oai:DiVA.org:kth-99445DiVA: diva2:542134
External cooperation
WesDyne TRC AB,Lars Skoglund
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-07-30 Created: 2012-07-30 Last updated: 2012-07-30Bibliographically approved

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