Enhancing a Low-Power ROV for Omnidirectional Penstock Inspection
Year: 2026
Type: conference-paper
Abstract: Hydro-Quebec operates over 60 hydroelectric power plants that produce ~37 GW of installed power. One of the critical measurements that must be performed periodically on these assets is the residual thickness of the penstock and scroll case metal liner. Hydro-Quebec is working on an R&D project that aims at performing inspections without dewatering the penstock. This paper presents the enhancement of a small off-the-shelf Remotely Operated Vehicle (ROV) to achieve measurement and cleaning capabilities in all orientations on the penstock (omnidirectional). This is done with mechanical optimizations, balancing of the ROV, and designing an under-actuated brushing deployment system including a quasi-constant force suspension. The proposed approach demonstrates that intelligent mechanical design allows achieving more with a simple low power ROV. A real penstock inspection is realized.
Authors: Pierre-Luc Richard, Éric Lavallée, Bruce Hazel
Institution: Hydro-Québec
Language: English
Subfield: Ocean Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7204201895