Design of an underwater robot control system for nuclear reactor pressure vessel inspection

Nuclear power is an indispensable form of advanced and efficient energy. The nuclear reactor pressure vessel is responsible for the critical tasks of cooling and storing nuclear fuel. To ensure the proper functioning of the nuclear reactor pressure vessel, regular inspections using radiographic equipment are required to check welds and cracks at the pipe connections. However, traditional radiographic inspection methods necessitate operator intervention on the flange surfaces of the pressure vessel, which exposes them to risks such as high radiation, contamination, and the danger of falling. Therefore, developing an autonomous underwater robot equipped with radiographic inspection capabilities is essential for enhancing the autonomy, safety, and efficiency of the inspection process and further advancing the intelligence of the inspection equipment. Among these components, the underwater robot control system is the foundational element for achieving this level of intelligence and autonomy. Consequently, this paper addresses the design of an underwater robot control system dedicated to the autonomous operation of radiographic inspection equipment using an underwater robot.