PCAMS NanoPiper

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NanoPiper was one of many sizes of pipe inspection robots being developed by Carnegie Mellon's Nuclear Robotics Program. Led by Red Whittaker at the CMU Field Robotics Center, we prototyped a Pipe-Crawling Activity Measurement System (PCAMS) to traverse the smallest pipes in the Portsmouth Nuclear Facility.

NanoPiper is a prototype robot meant to accurately inspect the inside of 3"-5" pipes for radioactive deposit. If the detected radioactivity surpassed the DOE's threshold, the pipe would need to be removed prior to building demolition.

I assisted with the design of the frame of NanoPiper and modeled all electronics that did not have pre-existing CAD models from the manufacturer. Lastly, I developed simulated radioactive buildup for safe testing inside our calibration pipes.

PCAMS RadPiper Website

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