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Submerged Tank Inspection Robot (RICI)

Non-contractual photo

Control your submerged tanks in nuclear environments and other challenging settings with RICI, the underwater robot expert in PA inspections of plates.

The RICI is a remotely operated robot designed for performing non-destructive control inspections (UT, PA, or others) on vertical or horizontal submerged walls, flat or with slight curvature, including in radioactive environments. Thanks to its precision, versatility, innovative suction system, and various options, it allows for tank inspections with unmatched efficiency and accuracy.

Aiming laser

Video Recording with Metadata (?)
(Overlaying metadata such as encoding data on the video stream...)

Encoding output

Halogen-free plastics on robot and umbilical

Umbilical length

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Presentation and Applications

Our underwater inspection platform, RICI, is a robotic solution for non-destructive testing (NDT) of submerged walls, initially developed for use in nuclear environments where radiation tolerance is a concern.

The initial challenge was to develop a robotic NDT carrier capable of performing Phased Array PA inspections on the welds of a 10-meter deep, mechanically-welded stainless steel tank in a high-radiation nuclear environment.

To meet this need, we created a modular robotic platform capable of deploying various NDT techniques, adapting to the surfaces being inspected, and operating in challenging submerged environments.

Deployable Control Methods :

The architecture of our underwater wall inspection robot allows for the adaptation of any type of NDT technique (PA, UT, EC…) and probes to this control method. Indeed, the robotic platform is independent of the control method itself. Our underwater inspection robot is, therefore, a tool for deploying NDT methods. Its main functions include movement along two axes with millimeter precision, video feedback, and optional features like a laser target and video recording with positioning data via OSD.

Controllable Elements :

In its original configuration, our submerged tank NDT inspection robot can move on flat plates with moderate flatness defects up to a depth of 20 meters. It can also move on concave or convex surfaces with significant curvature radii. Please contact us for more information about inspections on concave or convex surfaces.

Control Environment :

We guarantee the operation of our robotic NDT platform, RICI, at a pressure of 2 bars (20 meters). Please contact us for control needs at greater depths. To allow operation under significant ionizing radiation, we have integrated all sensitive components of our underwater NDT robot into the ground station. The camera remains the only component interacting with a radioactive environment. To delay video sensor interference as much as possible, the camera’s housing is designed to provide biological protection against radiation (leaded glass, thick housing walls). This biological protection only delays interference, thus gaining precious meters of control.

Nomenclature

HD Camera
Turbine for adhesion
Flexible Drive Wheel
Floats
Probe holder / PA probe

Advantage

Performance

Inspection in challenging environments, including radioactive ones
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High acquisition speed

Quality

Precision and linearity in control
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High-quality components for optimal reliability

Security

Reduced personnel risk through remote inspection

Versatility

Modularity and quick reconfiguration of the probe holder to inspect any type of submerged tank

Features

Car type steering

Proportional left-right steering and forward-backward movement for exceptional maneuverability. Turning radius equal to the robot’s width. Two speed ranges available for movement (travel / acquisition).

Steering precision

High torque hybrid motors, microcontroller management, compensated acceleration and deceleration curves, and closed-loop control for optimal precision. Precise and proportional joystick controls.

Adhesion and Movement

Neutral buoyancy and controllable redirected flow suction system ensuring perfect adherence to walls, even in vertical positions, and precise movement and positioning for flawless inspections.

HD camera with lighting

Low-latency HD camera equipped with lighting to real-time track the robot’s movement and inspect the controlled area.

Video recording

Capability to record the video stream onboard the control station for later review, with the option to add positioning metadata (encoder).

Probe Holder / Probe

Modular and adaptable for dead-zone-free control on most tank geometries. Can be moved to either side of the robot on a positioning rail and flipped for left and right side inspections, offering flexibility and adaptability to different configurations. Possibility of placing multiple probe holders in opposition.

Control station

Controls for starting and power adjustment of the suction system, camera lighting activation, rapid movement mode and control mode, and offers two steering configurations : rapid movement mode and control mode.

Obstacle Clearance Capability

Ability to overcome obstacles such as weld beads, concave and convex wall deformations thanks to an innovative flexible suction skirt system, thus enabling precise and reliable inspections even on irregular surfaces.