An object-orientated computer control system for DC motor powered robotics

In support of the life extension programme for Trawsfynydd Nuclear Power Station, Nuclear Electric plc undertook to carry out volumetric ultrasonic inspection of Reactor Pressure Vessel (RPV) Welds during 1991/92. Access to the Trawsfynydd RPV welds is only practicable from the outside of the vessel and a new generation of remote climbing vehicles, known as MAVIS (Magnetically Attached Vessel Inspection System) was developed to carry out the surface preparation and inspection activities. The purpose of the vehicles is to provide work platforms from which a variety of tasks can be conducted remotely by the fitting of different facilities such as weld location, wire brushing, surface grinding and ultrasonic scanning heads. This paper describes the design, development and implementation of the object oriented control software for the MAVIS vehicles. It further examines the future potential for control systems based upon object oriented philosophies. (author)