Bachfischer, Andrés (2014) Diseño de vehículo aéreo no tripulado para inspección y monitoreo en plantas nucleares. / Design of UAV for inspection and monitoring of nuclear facilities. Proyecto Integrador Ingeniería Mecánica, Universidad Nacional de Cuyo, Instituto Balseiro.
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Resumen en español
Una de las motivaciones fundamentales de los desarrollos robóticos es su uso en ambientes peligrosos para los seres humanos. Un area de aplicación importante es la industria nuclear, en particular en la respuesta a accidentes. Luego de los incidentes de Chernobyl y Fukushima, una rama de la robótica que cobró signicativo impulso es el diseño y construcción de Vehículos Aéreos No Tripulados (VANTs) para la realización de tareas de inspección y sensado de radiación en lugares accidentados. De esta forma, se reduce la exposición humana en las tareas de neutralización. A causa de la radiación, tanto los materiales estructurales como los de electrónica y de propulsión, sufren un desgaste que puede generar la falla parcial o íntegra del vehículo. Para subsanar esto, se debe realizar un ordenamiento espacial de los componentes del VANT (electrónica, sensores, fuente de alimentación, propulsores) y la protección de dichas partes mediante un blindaje adecuado a la radiación incidente. Analizando un escenario semejante al del accidente de Fukushima Daichii en Japon, se propuso el diseño del blindaje para proteger las zonas vitales del aparato para una vida útil de 25 hs (300 vuelos de 5 minutos) absorbiendo una dosis de 10 Gy. Para ello se investigaron las dosis aceptables para el funcionamiento de cada uno de los componentes, y se calcularon los materiales y espesores de blindaje necesario. Mediante un método iterativo, se encontro un diseño de hexacóptero que cumple con los requisitos impuestos. A causa del peso extra del blindaje, el VANT se diseñó para generar una fuerza de empuje mayor a los 12000 g, para tener un vuelo controlado y estable durante un recorrido alrededor del reactor accidentado. Para verificar el diseño del VANT, se comenzó la construcción de un prototipo capaz de levantar el blindaje calculado de 3,4 kg y una carga util adicional de 2 kg. Para ello, se caracterizó uno de los motores, obteniendo un empuje máximo de hasta (2700±200) g por propulsor. Se encontró una relación entre el empuje aplicado al VANT y su duración aproximada de vuelo; útil para estimar la distancia máxima al variar el peso del vehículo (agregando blindaje u otra carga). Haciendo una simulación de los empujes aplicados durante un vuelo promedio al hexacóptero sin blindaje, se obtuvo que éste tendría un rango de 5,1 km. Se construyó la estructura diseñada (mediante ecuaciones analíticas y por método de elementos finitos) que soportara hasta 18 kg de empuje total. Con modelos de VANTs posteriores al 2013 que satisfacen los requisitos anteriormente dichos, se realizó una comparación de precios, siendo el construido hasta 8 veces más económico y de origen nacional.
Resumen en inglés
One of the driving motivations for robotic development is their use in hazardous environments for human beings. An important area of application is nuclear industry, in particular accident response. After Chernobyl and Fukushima incidents, a branch of robotics that took a signicant impulse is the design and construction of Unmanned Aerial Vehicles (UAVs) for inspection and radiation sensing tasks in accidents. In this manner, human exposure can be reduced during neutralization tasks. Due to radiation, structural materials, electronics and propulsion systems suer deterioration that may lead to partial or complete failure. To prevent this, a spatial ordering of the components of the UAV (electronics, sensors, batteries, motors) must be done, and those elements must be protected by an adequate radiation shield. Analyzing a scenario similar to Fukushima Daichii accident in Japan, a particular shield was propose for the vital parts of the UAV, so it may have a use life of 25 hs (300 flights of 5 minutes each), absorbing a total dose of 10 Gy. To determine this, the acceptable dosage for each component was researched and the materials and thickness of the necessary shield was calculated. Using an iterative methodology, an hexacopter design that meets all the requirements was found. Due to the extra weight from the shield, the UAV was designed to have a thrust of over 12000 g and be able to have a controlled and stable flight during a tour around the accident site. In order to verify the UAV's design, the construction of a prototype capable of lifting the 3,4 kg shield and a 2 kg payload was started. The motors were experimentally characterized, getting a maximum thrust of (2700 +/- 200) g per motor. The relationship between the thrust of the UAV and an approximate time of ght was found, that enables to estimate the maximum distance achievable when changing the weight of the vehicle (putting on more shielding or other payload). A simulation of the average thrust during the hexacopter's flight without shielding yielded a maximum distance of 5.1 km. The designed structure was built, using analytical equations and finite elements methods to show it would endure up to 18 kg of total thrust. Finally, a comparison to recent commercial UAVs was performed, reaching the conclusion that the proposed design is up to 8 times cheaper while meeting all the requirements and having similar characteristics , with the additional plus that it is of national origin.
| Tipo de objeto: | Tesis (Proyecto Integrador Ingeniería Mecánica) |
|---|---|
| Palabras Clave: | Doses; Dosis; Shielding; Blindaje; [FUKUSHIMA] |
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| Materias: | Ingeniería nuclear > Cuestiones de seguridad de los reactores Ingeniería nuclear > Control y funcionamiento de reactores |
| Divisiones: | Presidencia > Gcia. de área CAREM |
| Código ID: | 477 |
| Depositado Por: | Marisa G. Velazco Aldao |
| Depositado En: | 18 Feb 2015 12:16 |
| Última Modificación: | 18 Feb 2015 12:18 |
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