This is my presentation for seminar in my 1st sem-M tech

1. GOOD AFTERNOON

2. A Small Climbing Robot for the
Intelligent Inspection of Nuclear Power
Plants
Presented by:
B.HIMA CHANDANA
M tech 1st year
DECS

3. CONTENTS
 Introduction
 Need for Robot
 Locomotion design
 Hardware
 Software
 Specifications
 Conclusion

4. INTRODUCTION
 Since Fukushima nuclear accident, the international society are paying more and
more attention on the safety of nuclear power.
 The healthy monitoring is the most important means.
 A Wall climbing robotic system for intelligent monitoring in nuclear power plants is
apt .

5. Why Climbing “Robot”?
• To protect human health and safety in radiation environment, the robotic systems
should be developed to perform the dangerous tasks taking the place of humans.

6. Locomotion Mechanism Design
 Leg adsorption mobile mechanism used.
 It has the advantages of good adaptability to a
variety of surfaces, flexible movement.
 High safety and reliability.

7. Schematic diagram of Locomotion Mechanism

8. Hardware

9. Embedded controller
 An embedded controller (EC) is a micro controller in computers that handles
various system tasks that the operating system does not handle.
 Like.. emergency shutdown in response to rising temperatures
 Battery charger & battery

10.  STM32F103 type of Embedded
controller used.
STM32F103 devices use the Cortex-
M3 core, with a maximum CPU
speed of 72 M Hz.

11. Software
ADAMS

12. μc/os-ii
PORTABLE OPERATING SYSTEM OF RTOS
FAMILY
VERSIONS II AND III.
MANAGES UP TO 255 APPLICATION TASKS

13. “
”
μc/os-ii operating systems into the
embedded controller...
MINI REAL TIME OPERATING SYSTEM
Control system - software is divided into SIX Tasks.

14. 6 Tasks
1. NRF wireless communication
2. PWM output
3. Adsorption system control
4. Analog sensor detection
5. Digital sensor detection
6. Embedded autonomous control

15. Design of Control
1) Ultrasonic Distance
Sensor
2) Inclinometer
Sensor
3) Pressure Sensor

16. Simulation - Motion in
straight line

17. Simulation – Turning
Movement
Simulation results

18. Motion simulation of
walking form ground
to wall and moving on
wall
 climb

19. Experiment of walking in
Straight Line on ground
 Prototype

20. Experiment of walking
from ground to wall
and moving on wall
 prototype

21. Principle of Pneumatic
system
 The vacuum suction cup
will connect to the
atmosphere .
 Remove the negative
pressure.

22. Specifications
Dimension 245mm*100mm*150mm
mass 1125g
power 16W
speed 3m/min
Mode of movements in straight line, turning and walking form
one face to another
Adaptation All kinds of material surface
remote control distance <20m
image transmission distance <200m

23. Conclusion
 A wall-climbing robotic system for intelligent monitoring in nuclear power plants
developed.
 Robot can be controlled by operator using wireless link & can also supply
information about the robot’s state and the environment surrounding to the host
computer for early warning.
 Therefore this prototype is verified with good results and in future vision of
designing anti-radiation electronics, and so on.