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Basic communication framework for a robotic device for the inspection of nuclear reactor piping structures

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Academic year: 2021

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Figure

Figure  1-1:  This  spherical  robot  has  a  internal  gimbal  mechanisms  that  allows  the camera  to  be  rotated  freely  without  the  use  of  external  thrusters  or  propellers
Figure  1-2:  Water  enters  the  device  through  the bottom  nozzle.  By  covering  the  gaps on  either  side  of the  body  of the  device  the  water  can  be  directed  out  of  the  opposite exit  port
Figure  2-1:  Penetration  depth  of  different  colors  of  light  in  water.  Blue  light  pene- pene-trates  the  deepest,  making  it  an  ideal  candidate  for  optical  communication.
Table  2.1:  Penetration  depth  of  radio  waves  in  varying  qualities  of  water.  Conduc- Conduc-tivity  of  different  types  of water.
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