Many legacy nuclear facilities exist with the number of such facilities due to increase in the future. For a variety of reasons, some of these facilities have poorly documented blueprints and floor plans. This has led to many areas within such facilities being left unexplored and in an unknown state for some considerable time. The risk to health that these areas might pose has in some cases precluded human exploration and facilities have been maintained in a containment state for many years. However, in more recent years there has been a move to decommission such facilities. The change of strategy from containment to decommissioning will require knowledge of what it is that needs to be decommissioned. It is hoped that an autonomous or semi- autonomous robotic solution can satisfy the requirement. For successful mapping of such environments, it is required that the robot is capable of producing complete scans of the world around it. As it moves through the environment the robot will not only need to map the presence, type and extent of radioactivity, but do so in a way that is economical from the perspective of battery life. Additionally, the presence of radioactivity presents a threat to the robot electronics. Exposure to radiation will be necessary but should be minimised to prolong the functional life of the robot. Some tethered robots have been developed for such applications, but these can cause issues such as snagging or the tether inadvertently spreading contamination, due to being dragged along the floor. Nuclear environments have very unique challenges, due to the radiation. Alpha and beta radiation have a short emission distance and therefore cannot be detected until the robot is in very close proximity. Although the robot will not become disabled by these forms of radiation, it may become contaminated which is undesirable. Radiation from gamma sources can be detected at range, however pinpointing a source requires sensors to be taken close to the emitter, which has adverse effects on the robot's electronics, for example gamma radiation damages silicon based electronics. Anything entering these environments is deemed to be contaminated and will eventually require disposal. Consequently the number of entries made should ideally be minimised, to reduce the production and spread of potential waste/contamination. This thesis presents results from an investigation of ways to provide complete scans of an environment with novel algorithms which take advantage of common features found in industrial environments and thereby allow for gaps in the data set to be detected. From this data it is then possible to calculate a minimum set of way points required to be visited to allow for all of the gaps to be filled in. This is achieved by taking into account the sensor's parameters such as minimum and maximum sensor range, angle of incidence and optimal sensor distance, along with robot and environmental factors. An investigation into appropriate exploration strategies has been undertaken looking at the ways in which gamma radiation sources affect the coverage of an environment. It has discovered undesired behaviours exhibited by the robot when radiation is present. To overcome these behaviours a novel movement strategy has been presented, along with a set of linear and binary battery modifiers, which adapt common movement strategies to help improve overall coverage of an unknown environment. Collaborative exploration of unknown environments has also been investigated, looking into the specific challenges radiation and contamination offer. This work has presented new ways of allowing multiple robots to independently explore an environment, sharing knowledge as they go, whilst safely exploring unknown hazardous space where a robot may be lost due to contamination or radiation damage.

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It is not uncommon for underground coal mining to be conducted in the proximity of abandoned underground mines that are prone to accumulate water, methane or other toxic gases, and are often either poorly mapped or without good surface survey control. Mining into such abandoned voids poses a great safety risk to personnel, equipment, and production from inundation or toxic/explosive gas release. Often, surface or underground drilling is employed to detect the mine void and evaluate the hazards, sometimes with disastrous results. The use of guided waves within coal seams can be utilized to locate voids, faults, and abrupt seam thickness changes. The use of seam waves for void detection and mine planning has tremendous value and use. To demonstrate the feasibility of abandoned mine void detection utilizing coal seam seismic waves, two in-seam reflection surveys and a transmission survey were acquired at an abandoned underground mine near Hurley, Virginia. Numerical modeling of the seam waves was examined as well. The Airy phase was observed in the synthetic and real field data. Dispersion analysis of the field data shows reasonable agreement with the dispersion characteristics of the synthetic data. Using standard commonly available seismic reflection processing tools, a known and well-mapped mine was detected and located. Detection of the mine with both surveys indicates that ``exploratory'' drilling can be replaced by noninvasive seismic methods. Location, however, was not good enough to replace drilling entirely. Hence seismic methods can be used for detection, but if a potential void is detected, focused drilling should be applied for accurate mapping and circumvention of potentially hazardous areas. / Master of Science

Experimentation exploring the movement of voids within carbon fiber reinforced plastics was performed using fluorescent dye infused into the laminates observed through a transparent mold under ultraviolet light. In situ photography was used as an inspection method for void content during Resin Transfer Molding for these laminates. This in situ inspection method for determining the void content of composite laminates was compared to more common ex-situ quality inspection methods i.e. ultrasonic inspection and cross-section microscopy. Results for localized and total void count in each of these methods were directly compared to test samples and linear correlations between the three test methods were sought. Test coupons were then cut from these laminates and were used to calculate the interlaminar shear strength at certain locations throughout the laminates. Although this research did not adequately observe correlations between results obtained from ultrasonic C-scans, cross-sectional microscopy and in situ photography of the surface, it was seen that the fluid dynamics of the thermosetting epoxy used in this experimentation correlated to results obtained from previous experimentation performed by students at Brigham Young University using vegetable oil as a substitute for resin.

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