{"id":{"repo_id":"uoit","oai_identifier":"oai:ontariotechu.scholaris.ca:10155/2059"},"canonical_url":"https://search.dev.ndltd.org/etd/uoit/oai:ontariotechu.scholaris.ca:10155/2059","repository":{"repo_id":"uoit","name":"Ontario Institute of Technology","base_url":"https://ontariotechu.scholaris.ca/server/oai/request"},"display":{"title":"Design and enhancements for a CANDU robotic fuel channel inspection system","abstract":"The goals of this thesis was to develop updated hardware and system architecture to an existing prototype of a robotic inspection system for use inside Canadian Deuterium Uranium (CANDU) reactor fuel channels. A dual cable management system was developed to hold the necessary cables for the robotic crawler to operate and provide additional odometry data. A deployment scheme for the robotic inspection system integrated into the Bruce Reactor and Maintenance System (BRIMS) with little to no modifications to maintain modularity was proposed. An updated localization system was developed to attempt to improve on the localization error expected over the course of the robotic inspection system’s travel over the entire length of the fuel channel. Through testing it was determined that the overall position error expected for a full fuel channel travel distance was approximately 2.5mm which falls short of the 1mm overall error desired by the industry partner.","abstract_html":"The goals of this thesis was to develop updated hardware and system architecture to an existing prototype of a robotic inspection system for use inside Canadian Deuterium Uranium (CANDU) reactor fuel channels. A dual cable management system was developed to hold the necessary cables for the robotic crawler to operate and provide additional odometry data. A deployment scheme for the robotic inspection system integrated into the Bruce Reactor and Maintenance System (BRIMS) with little to no modifications to maintain modularity was proposed. An updated localization system was developed to attempt to improve on the localization error expected over the course of the robotic inspection system’s travel over the entire length of the fuel channel. Through testing it was determined that the overall position error expected for a full fuel channel travel distance was approximately 2.5mm which falls short of the 1mm overall error desired by the industry partner.","abstract_has_math":false,"creators":["Slade, Cameron N."],"institution":"University of Ontario Institute of Technology","degree_name":"Master of Applied Science (MASc)","degree_level":null,"degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["Nokleby, Scott"],"committee_chairs":[],"committee_members":[],"year":2025,"date_issued":"2025-12-01","date_published":"2025-12-01","updated_at":"2026-07-24T05:35:22Z","subjects":[],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/10155/2059","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Nokleby, Scott"]},{"key":"dc:creator","label":"Author","values":["Slade, Cameron N."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2026-01-20T21:14:47Z"]},{"key":"dc:date.issued","label":"Date","values":["2025-12-01"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Applied Science (MASc)"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Ontario Institute of Technology"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10155/2059"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["The goals of this thesis was to develop updated hardware and system architecture to an existing prototype of a robotic inspection system for use inside Canadian Deuterium Uranium (CANDU) reactor fuel channels. A dual cable management system was developed to hold the necessary cables for the robotic crawler to operate and provide additional odometry data. A deployment scheme for the robotic inspection system integrated into the Bruce Reactor and Maintenance System (BRIMS) with little to no modifications to maintain modularity was proposed. An updated localization system was developed to attempt to improve on the localization error expected over the course of the robotic inspection system’s travel over the entire length of the fuel channel. Through testing it was determined that the overall position error expected for a full fuel channel travel distance was approximately 2.5mm which falls short of the 1mm overall error desired by the industry partner."]},{"key":"dc:title","label":"Title","values":["Design and enhancements for a CANDU robotic fuel channel inspection system"]}]}],"canonical_facts":{"dc:contributor.advisor":["Nokleby, Scott"],"dc:creator":["Slade, Cameron N."],"dc:date.accessioned":["2026-01-20T21:14:47Z"],"dc:date.issued":["2025-12-01"],"dc:description.abstract":["The goals of this thesis was to develop updated hardware and system architecture to an existing prototype of a robotic inspection system for use inside Canadian Deuterium Uranium (CANDU) reactor fuel channels. A dual cable management system was developed to hold the necessary cables for the robotic crawler to operate and provide additional odometry data. A deployment scheme for the robotic inspection system integrated into the Bruce Reactor and Maintenance System (BRIMS) with little to no modifications to maintain modularity was proposed. An updated localization system was developed to attempt to improve on the localization error expected over the course of the robotic inspection system’s travel over the entire length of the fuel channel. Through testing it was determined that the overall position error expected for a full fuel channel travel distance was approximately 2.5mm which falls short of the 1mm overall error desired by the industry partner."],"dc:identifier.uri":["https://hdl.handle.net/10155/2059"],"dc:language.iso":["en"],"dc:title":["Design and enhancements for a CANDU robotic fuel channel inspection system"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_name":["Master of Applied Science (MASc)"],"thesis:institution_name":["University of Ontario Institute of Technology"]},"updated_at":"2026-07-24T05:35:22Z"}