An underwater robotic network for monitoring nuclear waste storage pools

Sarfraz Nawaz; Muzammil Hussain; Simon Watson; Niki Trigoni; Peter N. Green

doi:10.1007/978-3-642-11528-8_17

An underwater robotic network for monitoring nuclear waste storage pools

Sarfraz Nawaz, Muzammil Hussain, Simon Watson, Niki Trigoni, Peter N. Green

Research output: Chapter in Book/Conference proceeding › Chapter

Abstract

Nuclear power provides a significant portion of our current energy demand and is likely to become more wide spread with growing world population. However, the radioactive waste generated in these power plants must be stored for around 60 years in underwater storage pools before permanent disposal. These underwater storage environments must be carefully monitored and controlled to avoid an environmental catastrophe. In this paper, we present an underwater mobile sensor network that is being developed to monitor these waste storage pools. This sensing system will also be used in very old storage pools to build maps of their internal structure which can then be used for waste removal and pool decommissioning. In this paper, we outline the unique challenges of our application scenario which include robot localization in cluttered underwater environments and the effect of location errors on environment mapping. We also list other industrial applications that can benefit from our underwater sensor network. © 2009 Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering.

Original language	English
Title of host publication	Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering\|Lect. Notes Inst. Comput. Sci. Soc. Informatics Telecommun. Eng.
Publisher	Springer Nature
Pages	236-255
Number of pages	19
Volume	24
DOIs	https://doi.org/10.1007/978-3-642-11528-8_17
Publication status	Published - 2010
Event	1st International ICST Conference on Sensor Systems and Software, S-CUBE 2009 - Pisa Duration: 1 Jul 2010 → … http://dx.doi.org/10.1007/978-3-642-11528-8_17

Publication series

Name	Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering
Publisher	Springer Berlin Heidelberg

Other

Other	1st International ICST Conference on Sensor Systems and Software, S-CUBE 2009
City	Pisa
Period	1/07/10 → …
Internet address	http://dx.doi.org/10.1007/978-3-642-11528-8_17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1007/978-3-642-11528-8_17

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Nawaz, S., Hussain, M., Watson, S., Trigoni, N., & Green, P. N. (2010). An underwater robotic network for monitoring nuclear waste storage pools. In Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering|Lect. Notes Inst. Comput. Sci. Soc. Informatics Telecommun. Eng. (Vol. 24, pp. 236-255). (Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering). Springer Nature. https://doi.org/10.1007/978-3-642-11528-8_17

Nawaz, Sarfraz ; Hussain, Muzammil ; Watson, Simon et al. / An underwater robotic network for monitoring nuclear waste storage pools. Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering|Lect. Notes Inst. Comput. Sci. Soc. Informatics Telecommun. Eng.. Vol. 24 Springer Nature, 2010. pp. 236-255 (Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering).

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abstract = "Nuclear power provides a significant portion of our current energy demand and is likely to become more wide spread with growing world population. However, the radioactive waste generated in these power plants must be stored for around 60 years in underwater storage pools before permanent disposal. These underwater storage environments must be carefully monitored and controlled to avoid an environmental catastrophe. In this paper, we present an underwater mobile sensor network that is being developed to monitor these waste storage pools. This sensing system will also be used in very old storage pools to build maps of their internal structure which can then be used for waste removal and pool decommissioning. In this paper, we outline the unique challenges of our application scenario which include robot localization in cluttered underwater environments and the effect of location errors on environment mapping. We also list other industrial applications that can benefit from our underwater sensor network. {\textcopyright} 2009 Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering.",

author = "Sarfraz Nawaz and Muzammil Hussain and Simon Watson and Niki Trigoni and Green, \{Peter N.\}",

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Nawaz, S, Hussain, M, Watson, S, Trigoni, N & Green, PN 2010, An underwater robotic network for monitoring nuclear waste storage pools. in Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering|Lect. Notes Inst. Comput. Sci. Soc. Informatics Telecommun. Eng.. vol. 24, Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, Springer Nature, pp. 236-255, 1st International ICST Conference on Sensor Systems and Software, S-CUBE 2009, Pisa, 1/07/10. https://doi.org/10.1007/978-3-642-11528-8_17

An underwater robotic network for monitoring nuclear waste storage pools. / Nawaz, Sarfraz; Hussain, Muzammil; Watson, Simon et al.
Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering|Lect. Notes Inst. Comput. Sci. Soc. Informatics Telecommun. Eng.. Vol. 24 Springer Nature, 2010. p. 236-255 (Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering).

Research output: Chapter in Book/Conference proceeding › Chapter

TY - CHAP

T1 - An underwater robotic network for monitoring nuclear waste storage pools

AU - Nawaz, Sarfraz

AU - Hussain, Muzammil

AU - Watson, Simon

AU - Trigoni, Niki

AU - Green, Peter N.

PY - 2010

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AB - Nuclear power provides a significant portion of our current energy demand and is likely to become more wide spread with growing world population. However, the radioactive waste generated in these power plants must be stored for around 60 years in underwater storage pools before permanent disposal. These underwater storage environments must be carefully monitored and controlled to avoid an environmental catastrophe. In this paper, we present an underwater mobile sensor network that is being developed to monitor these waste storage pools. This sensing system will also be used in very old storage pools to build maps of their internal structure which can then be used for waste removal and pool decommissioning. In this paper, we outline the unique challenges of our application scenario which include robot localization in cluttered underwater environments and the effect of location errors on environment mapping. We also list other industrial applications that can benefit from our underwater sensor network. © 2009 Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering.

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Y2 - 1 July 2010

ER -

Nawaz S, Hussain M, Watson S, Trigoni N, Green PN. An underwater robotic network for monitoring nuclear waste storage pools. In Lecture Notes of the Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering|Lect. Notes Inst. Comput. Sci. Soc. Informatics Telecommun. Eng.. Vol. 24. Springer Nature. 2010. p. 236-255. (Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering). doi: 10.1007/978-3-642-11528-8_17

An underwater robotic network for monitoring nuclear waste storage pools

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