![Page 1: A presentation by Daniel Nye, Lancaster University](https://reader035.vdocument.in/reader035/viewer/2022062314/56813d5f550346895da72df0/html5/thumbnails/1.jpg)
A proposed investigation into the use of 3D sonar mapping to
characterise the physical state of nuclear containment vessels immersed in a pool of water.
A presentation by Daniel Nye, Lancaster University
![Page 2: A presentation by Daniel Nye, Lancaster University](https://reader035.vdocument.in/reader035/viewer/2022062314/56813d5f550346895da72df0/html5/thumbnails/2.jpg)
Core waste management
• Spent cores are very hot still• Place in ‘Spent Fuel Pool’s to cool down
Some pools have become a little cluttered...(from the Nuclear Decommissioning Authority website)
![Page 3: A presentation by Daniel Nye, Lancaster University](https://reader035.vdocument.in/reader035/viewer/2022062314/56813d5f550346895da72df0/html5/thumbnails/3.jpg)
3D Sonar Mapping
• 3D Sonar Mapping, using Spectral Registration and Plane-Based Registration
An example of Plane-Based Registration (left) and Spectral Registration (right) from Heiko Bülow and Andreas Birk’s paper, ‘Spectral registration of noisy sonar data for underwater 3D mapping’
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The Sonar-Boat/Robot
• SLAM – Simultaneous Localisation And Mapping
A demonstration of a simple 2D SLAM robot operating.(from Society of Robots website)
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SLAM in Real Time
• Real time SLAM needs a lot of processing power and storage space with normal evidence grid.
• Octree Evidence Grid should be much more efficient
Octrees divide each section into 8, then subdivide those into 8 further. However, these sections can be lumped together if homogenous(from the paper ‘Real-Time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels’ by Nathaniel Fairfield, George Kantor,and David Wettergreen)
![Page 6: A presentation by Daniel Nye, Lancaster University](https://reader035.vdocument.in/reader035/viewer/2022062314/56813d5f550346895da72df0/html5/thumbnails/6.jpg)
Electronics limitations
• Ionising radiation is bad for semiconductors.
• If the robot stays at the surface it should be able to avoid much of this
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Noise• Noise makes it harder to match up relevant
sections when 3D map is made of 2D components.
Sonar scan with noise artifacts (left) and with them removed (right)(from ‘A Post-Processing Method for the Removal of Refraction Artifacts in Multibeam Bathymetry Data’ by Fanlin Yang, Jiabiao Li, Ziyin Wu, Xanglong Jin, Fengyou Chu, AND Zhongzhi Kang)
![Page 8: A presentation by Daniel Nye, Lancaster University](https://reader035.vdocument.in/reader035/viewer/2022062314/56813d5f550346895da72df0/html5/thumbnails/8.jpg)
Testing
• Need to test capabilities of machine and code under controlled conditions, such as the Lancaster University Engineering Department’s wave tank.
LUREG’s Wave Tank(from Lancaster University Engineering Department’s website)
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Further Work
• Basically, everything previously mentioned.
• In addition, capability to carry scintillating equipment and software for analysis of the radio-isotopes present (someone else’s PhD project)
![Page 10: A presentation by Daniel Nye, Lancaster University](https://reader035.vdocument.in/reader035/viewer/2022062314/56813d5f550346895da72df0/html5/thumbnails/10.jpg)
Thank you for listening
Any Questions/Suggestionsregarding this
project?