WorldWideScience

Sample records for hull inspection robot

  1. Inspecting the inside of underwater hull

    Science.gov (United States)

    Valkovic, Vladivoj; Sudac, Davorin

    2009-05-01

    In order to demonstrate the possibility of identifying the material within ship's underwater hull, sunken ships and other objects on the sea floor tests with the 14 MeV sealed tube neutron generator incorporated inside a small submarine submerged in the test basin filled with sea water have been performed. Results obtained for inspection of diesel fuel and explosive presence behind single and double hull constructions are presented.

  2. Automated Visual Inspection of Ship Hull Surfaces Using the Wavelet Transform

    Directory of Open Access Journals (Sweden)

    Carlos Fernández-Isla

    2013-01-01

    Full Text Available A new online visual inspection technique is proposed, based on a wavelet reconstruction scheme over images obtained from the hull. This type of visual inspection to detect defects in hull surfaces is commonly carried out at shipyards by human inspectors before the hull repair task starts. We propose the use of Shannon entropy for automatic selection of the band for image reconstruction which provides a low decomposition level, thus avoiding excessive degradation of the image, allowing more precise defect segmentation. The proposed method here is capable of on-line assisting to a robotic system to perform grit blasting operations over damage areas of ship hulls. This solution allows a reliable and cost-effective operation for hull grit spot blasting. A prototype of the automated blasting system has been developed and tested in the Spanish NAVANTIA shipyards.

  3. Development of the hull inspection robot (RTV-SHIP); Sentai kensayo suichu robot (RTV-SHIP) no kaihatsu (atarashii sentai kensaho no ichiteian)

    Energy Technology Data Exchange (ETDEWEB)

    Nakata, Y.; Otsuka, M.; Ozawa, H.; Konosu, M. [Mitsui Engineering and Shipbuilding Co. Ltd., Tokyo (Japan)

    1997-08-01

    A compact and lightweight underwater RTV robot (RTV-SHIP) that enables the remote sensing in the double-shell structure of a tanker and the six-freedom motion control was developed based on the technology of the conventional portable underwater robot. The motion performance test in a water tank showed that the RTV-SHIP can freely access the manhole in the double-shell structure of a tanker and completely satisfies the thrust and swing force required for movement and measurement in a tank. The in-tank function confirmation test also shows that the main measurement items such as positioning in the tank, large deflection of panels, and plate thickness have a satisfactory measurement accuracy and that the RTV-SHIP has the same tone discrimination function as for a visual check. The method of inputting the tank shape during measurement and miniaturizing the recording unit should be improved until the RTV-SHIP is put to practical use. This system can be widely used by improving the above points according to the result of a future measurement test for the actual ships. 1 ref., 9 figs.

  4. Morphologically intelligent underactuated robot for underwater hull cleaning

    DEFF Research Database (Denmark)

    Souto, Daniel; Faina, Andres; López-Peña, Fernando

    2015-01-01

    In this paper we discuss a new type of robot for underwater hull cleaning on ships with non-magnetic hulls. This robot is based on the concept that cleaning hulls regularly, without waiting to take them out of the water, will improve the efficiency of the ships and will permit a reduction...... in the use of the chemicals that are usually employed to prevent the growth of marine life on the hull and which are generally harmful to the environment. The robot described in this paper is an underactuated morphologically adapted robot that through an appropriate morphology and making use of the forces...... and constraints of the environment solves the most difficult problems that arise when moving along hulls. Some of these are changing planes, negotiating appendices, avoiding portholes, passing corners, and other elements. This greatly simplifies the control mechanisms that are required for its operation making...

  5. 46 CFR 91.15-1 - Standards in inspection of hulls, boilers, and machinery.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Standards in inspection of hulls, boilers, and machinery... hulls, boilers, and machinery. In the inspection of hulls, boilers, and machinery of vessels, the..., respecting material and inspection of hulls, boilers, and machinery, and the certificate of classification...

  6. 46 CFR 189.15-1 - Standards in inspection of hulls, boilers, and machinery.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Standards in inspection of hulls, boilers, and machinery... inspection of hulls, boilers, and machinery. In the inspection of hulls, boilers, and machinery of vessels... chapter, respecting material and construction of hulls, boilers, and machinery, and certificate of...

  7. 46 CFR 71.15-1 - Standards in inspection of hulls, boilers, and machinery.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false Standards in inspection of hulls, boilers, and machinery..., boilers, and machinery. In the inspection of hulls, boilers, and machinery of vessels, the standards... and inspection of hulls, boilers, and machinery, and the certificate of classification referring...

  8. Development of Inspection Robots for Bridge Cables

    Directory of Open Access Journals (Sweden)

    Hae-Bum Yun

    2013-01-01

    Full Text Available This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented.

  9. Development of inspection robots for bridge cables.

    Science.gov (United States)

    Yun, Hae-Bum; Kim, Se-Hoon; Wu, Liuliu; Lee, Jong-Jae

    2013-01-01

    This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented.

  10. 46 CFR 167.15-25 - Inspection standards for hulls, boilers and machinery.

    Science.gov (United States)

    2010-10-01

    ... SCHOOLS PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-25 Inspection standards for hulls, boilers and... 46 Shipping 7 2010-10-01 2010-10-01 false Inspection standards for hulls, boilers and machinery... inspection. These rules may be purchased from the American Bureau of Shipping (ABS), ABS Plaza, 16855...

  11. CMS cavern inspection robot

    CERN Document Server

    Ibrahim, Ibrahim

    2017-01-01

    Robots which are immune to the CMS cavern environment, wirelessly controlled: -One actuated by smart materials (Ionic Polymer-Metal Composites and Macro Fiber Composites) -One regular brushed DC rover -One servo-driven rover -Stair-climbing robot

  12. A smart ROV solution for ship hull and harbor inspection

    Science.gov (United States)

    Reed, Scott; Wood, Jon; Vazquez, Jose; Mignotte, Pierre-Yves; Privat, Benjamin

    2010-04-01

    Hull and harbor infrastructure inspections are frequently performed manually and involve quite a bit of risk and human and monetary resources. In any kind of threat and resource constrained environment, this involves unacceptable levels of risk and cost. Modern Remotely Operated Vehicles are highly refined machines that provide features and capabilities previously unavailable. Operations once carried out by divers can now be carried out more quickly, efficiently and safely by smart enabled ROVs. ROVs are rapidly deployable and capable of continuous, reliable operations in adverse conditions. They also provide a stable platform on which multiple sensors may be mounted and utilized to meet the harbor inspection problem. Automated Control software provides ROV's and their pilots with the capability to inspect complex, constrained environments such as those found in a harbor region. This application and the user interface allow the ROV to automatically conduct complex maneuvers relative to the area being inspected and relieves the training requirements and work load for the pilot, allowing he or she to focus on the primary task of survey, inspection and looking for possible threats (such as IEDs, Limpet Mines, signs of sabotage, etc). Real-time sensor processing tools can be integrated into the smart ROV solution to assist the operator. Automatic Target Recognition (ATR) algorithms are used to search through the sensor data collected by the ROV in real time. These algorithms provide immediate feedback on possible threats and notify the operator of regions that may require manual verification. Sensor data (sonar or video) is also mosaiced, providing the operator with real-time situational awareness and a coverage map of the hull or seafloor. Detected objects may also be placed in the context of the large scale characteristics of the hull (or bottom or pilings) and localized. Within the complex areas such as the harbor pier pilings and the running gear of the ship, real

  13. Drum inspection robots: Application development

    International Nuclear Information System (INIS)

    Hazen, F.B.; Warner, R.D.

    1996-01-01

    Throughout the Department of Energy (DOE), drums containing mixed and low level stored waste are inspected, as mandated by the Resource Conservation and Recovery Act (RCRA) and other regulations. The inspections are intended to prevent leaks by finding corrosion long before the drums are breached. The DOE Office of Science and Technology (OST) has sponsored efforts towards the development of robotic drum inspectors. This emerging application for mobile and remote sensing has broad applicability for DOE and commercial waste storage areas. Three full scale robot prototypes have been under development, and another project has prototyped a novel technique to analyze robotically collected drum images. In general, the robots consist of a mobile, self-navigating base vehicle, outfitted with sensor packages so that rust and other corrosion cues can be automatically identified. They promise the potential to lower radiation dose and operator effort required, while improving diligence, consistency, and documentation

  14. ROBOTIC TANK INSPECTION END EFFECTOR

    International Nuclear Information System (INIS)

    Rachel Landry

    1999-01-01

    The objective of this contract between Oceaneering Space Systems (OSS) and the Department of Energy (DOE) was to provide a tool for the DOE to inspect the inside tank walls of underground radioactive waste storage tanks in their tank farms. Some of these tanks are suspected to have leaks, but the harsh nature of the environment within the tanks precludes human inspection of tank walls. As a result of these conditions only a few inspection methods can fulfill this task. Of the methods available, OSS chose to pursue Alternating Current Field Measurement (ACFM), because it does not require clean surfaces for inspection, nor any contact with the Surface being inspected, and introduces no extra by-products in the inspection process (no coupling fluids or residues are left behind). The tool produced by OSS is the Robotic Tank Inspection End Effector (RTIEE), which is initially deployed on the tip of the Light Duty Utility Arm (LDUA). The RTEE combines ACFM with a color video camera for both electromagnetic and visual inspection The complete package consists of an end effector, its corresponding electronics and software, and a user's manual to guide the operator through an inspection. The system has both coarse and fine inspection modes and allows the user to catalog defects and suspected areas of leakage in a database for further examination, which may lead to emptying the tank for repair, decommissioning, etc.. The following is an updated report to OSS document OSS-21100-7002, which was submitted in 1995. During the course of the contract, two related sub-tasks arose, the Wall and Coating Thickness Sensor and the Vacuum Scarifying and Sampling Tool Assembly. The first of these sub-tasks was intended to evaluate the corrosion and wall thinning of 55-gallon steel drums. The second was retrieved and characterized the waste material trapped inside the annulus region of the underground tanks on the DOE's tank farms. While these sub-tasks were derived from the original intent

  15. An intelligent inspection and survey robot

    International Nuclear Information System (INIS)

    Byrd, J.; Holland, J.M.

    1994-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a semi-autonomous robotic system intended for use in the automatic inspection of stored containers of low-level nuclear waste. This article describes the technology and how it could be used. 3 refs., 3 figs

  16. Hydrodynamic design of an underwater hull cleaning robot and its evaluation

    Directory of Open Access Journals (Sweden)

    Man Hyung Lee

    2012-12-01

    Full Text Available An underwater hull cleaning robot can be a desirable choice for the cleaning of large ships. It can make the cleaning process safe and economical. This paper presents a hydrodynamic design of an underwater cleaning robot and its evaluation for an underwater ship hull cleaning robot. The hydrodynamic design process of the robot body is described in detail. Optimal body design process with compromises among conflicting design requirements is given. Experimental results on the hydrodynamic performance of the robot are given.

  17. Robotic inspection technology-process an toolbox

    Energy Technology Data Exchange (ETDEWEB)

    Hermes, Markus [ROSEN Group (United States). R and D Dept.

    2005-07-01

    Pipeline deterioration grows progressively with ultimate aging of pipeline systems (on-plot and cross country). This includes both, very localized corrosion as well as increasing failure probability due to fatigue cracking. Limiting regular inspecting activities to the 'scrapable' part of the pipelines only, will ultimately result into a pipeline system with questionable integrity. The confidence level in the integrity of these systems will drop below acceptance levels. Inspection of presently un-inspectable sections of the pipeline system becomes a must. This paper provides information on ROSEN's progress on the 'robotic inspection technology' project. The robotic inspection concept developed by ROSEN is based on a modular toolbox principle. This is mandatory. A universal 'all purpose' robot would not be reliable and efficient in resolving the postulated inspection task. A preparatory Quality Function Deployment (QFD) analysis is performed prior to the decision about the adequate robotic solution. This enhances the serviceability and efficiency of the provided technology. The word 'robotic' can be understood in its full meaning of Recognition - Strategy - Motion - Control. Cooperation of different individual systems with an established communication, e.g. utilizing Bluetooth technology, support the robustness of the ROSEN robotic inspection approach. Beside the navigation strategy, the inspection strategy is also part of the QFD process. Multiple inspection technologies combined on a single carrier or distributed across interacting container must be selected with a clear vision of the particular goal. (author)

  18. Conceptual design for transmission line inspection robot

    International Nuclear Information System (INIS)

    Jalal, M F Abdul; Sahari, K S Mohamed; Anuar, A; Arshad, A D Mohd; Idris, M S

    2013-01-01

    Power transmission line is used for power distribution purposes due to their cost effective measure compared to underlying cable. However, prolonged exposure to natural weather may cause fatigue stress to the lines as well as induce material failure. Therefore, periodical line inspection is considered uttermost important as a preventive measure to avoid power outage. However, transmission line inspection has always been a high risk and expensive work. Hazardous works that may harm operator as well as routine that requires precise handling can be performed by robots. Various types of robots have been designed and developed for line inspection but only perform well on a straight and continuous line. As these robots encounter an obstacle during the inspection, then the real problem in terms of robot stability and smooth operation arises. In this paper, conceptual design and evaluation for transmission line inspection robot is presented. The inspection robot mobile robot must be able to bypass or avoid obstacles as it travels along the power transmission line.

  19. An automated miniature robotic vehicle inspection system

    Energy Technology Data Exchange (ETDEWEB)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter [Centre for Ultrasonic Engineering, University of Strathclyde, 204 George Street, Glasgow, G1 1XW (United Kingdom)

    2014-02-18

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.

  20. An automated miniature robotic vehicle inspection system

    International Nuclear Information System (INIS)

    Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter

    2014-01-01

    A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software

  1. An intelligent inspection and survey robot

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1995-01-01

    Large quantities of mixed and low-level radioactive waste contained in 55-, 85-, and 110-gallon steel drums are stored at Department of Energy (DOE) warehouses located throughout the United States. The steel drums are placed on pallets and stacked on top of one another, forming a column of drums ranging in heights of one to four drums and up to 16 feet high. The columns of drums are aligned in rows forming an aisle approximately three feet wide between the rows of drums. Tens of thousands of drums are stored in these warehouses throughout the DOE complex. ARIES (Autonomous Robotic Inspection Experimental System) is under development for the DOE to survey and inspect these drums. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a data of pertinent information about each drum

  2. An intelligent inspection and survey robot

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1995-01-01

    Large quantities of mixed and low-level radioactive waste contained in 55-, 85-, and 110-gallon steel drums are stored at Department of Energy (DOE) warehouses located throughout the United States. The steel drums are placed on pallets and stacked on top of one another, forming a column of drums ranging in heights of one to four drums and up to 16 feet high. The columns of drums are aligned in rows forming an aisle approximately three feet wide between the rows of drums. Tens of thousands of drums are stored in these warehouses throughout the DOE complex. ARIES (Autonomous Robotic Inspection Experimental System), is under development for the DOE to survey and inspect these drums. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum

  3. An intelligent inspection and survey robot

    Energy Technology Data Exchange (ETDEWEB)

    Byrd, J.S. [Univ. of South Carolina, Columbia, SC (United States)

    1995-10-01

    Large quantities of mixed and low-level radioactive waste contained in 55-, 85-, and 110-gallon steel drums are stored at Department of Energy (DOE) warehouses located throughout the United States. The steel drums are placed on pallets and stacked on top of one another, forming a column of drums ranging in heights of one to four drums and up to 16 feet high. The columns of drums are aligned in rows forming an aisle approximately three feet wide between the rows of drums. Tens of thousands of drums are stored in these warehouses throughout the DOE complex. ARIES (Autonomous Robotic Inspection Experimental System) is under development for the DOE to survey and inspect these drums. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a data of pertinent information about each drum.

  4. An inspection of pipe by snake robot

    Directory of Open Access Journals (Sweden)

    František Trebuňa

    2016-10-01

    Full Text Available The article deals with development and application of snake robot for inspection pipes. The first step involves the introduction of a design of mechanical and electrical parts of the snake robot. Next, the analysis of the robot locomotion is introduced. For the curved pipe, potential field method is used. By this method, the system is able to generate path for the head and rear robot, linking the environment with obstacles, which are represented by the walls of the pipe. Subsequently, the solution of potential field method is used in inverse kinematic model, which respects tasks as obstacle avoidance, joint limit avoidance, and singularity avoidance. Mentioned approach is then tested on snake robot in provisional pipe with rectangular cross section. For this research, software Matlab (2013b is used as the control system in cooperation with the control system of robot, which is based on microcontrollers. By experiments, it is shown that designed robot is able to pass through straight and also curved pipe.

  5. Development of an ITER relevant inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C. [Association Euratom-CEA, Cadarache (France). Dept. de Recherche sur la Fusion Controlee; Friconneau, J.P.; Keller, D.; Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, Fontenay aux Roses (France)

    2007-07-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

  6. Development of an ITER relevant inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, Laurent [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Friconneau, Jean-Pierre [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France); Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael [Association Euratom-CEA, Departement de Recherche sur la Fusion Controlee, CE Cadarache 13108 (France); Keller, Delphine; Perrot, Yann [CEA-LIST Robotics and Interactive Systems Unit, CE Fontenay Aux Roses (France)

    2008-12-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions.

  7. Development of an ITER relevant inspection robot

    International Nuclear Information System (INIS)

    Gargiulo, L.; Bayetti, P.; Cordier, J.J.; Grisolia, C.; Hatchressian, J.C.

    2007-01-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in vessel inspection operations without loss of conditioning could be very useful. Within this framework, the aim of the project called AIA (Articulated Inspection Arm) is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 11 degrees of freedom and a total range of 8 m. The project is currently developed by the CEA within the European workprogramme. Its first in situ tests are planned this summer on the Tore Supra tokamak at Cadarache (France). They will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for generic application. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is currently being manufactured and will allow for close visual inspection of the complex Plasma Facing Components (limiters, neutralisers, RF antennae, diagnostic windows, etc.). - In situ localisation of leakage based on helium sniffer is also studied to improve maintenance operations. - Finally the laser ablation system for PFC detritiation, also developed in CEA laboratories, is being fitted to be implanted into the robot and put into operation in Tore Supra. This paper deals with the integration of the robot in the Tore Supra tokamak and the advances in the development of the listed processes. It also introduces the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions. (orig.)

  8. Development of an ITER relevant inspection robot

    International Nuclear Information System (INIS)

    Gargiulo, Laurent; Bayetti, Pascal; Bruno, Vincent; Cordier, Jean-Jacques; Friconneau, Jean-Pierre; Grisolia, Christian; Hatchressian, Jean-Claude; Houry, Michael; Keller, Delphine; Perrot, Yann

    2008-01-01

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In particular, in-vessel inspection operations without loss of conditioning will be mandatory. In this context, an Articulated Inspection Arm (AIA) is currently developed by the CEA within the European work programme framework, which aims at demonstrating the feasibility of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier (up to 10 kg). It is composed of 5 segments with 8 degrees of freedom and a total range of 8 m. The first in situ tests will take place by the end of 2007 on the Tore Supra Tokamak at Cadarache (France). They will validate concepts for operations under ITER relevant vacuum and temperature conditions. After qualification, the arm will constitute a promising tool for various applications. Several processes are already considered for ITER maintenance and will be demonstrated on the AIA robot carrier: - The first embedded process is the viewing system. It is already manufactured and will allow close visual inspection of the complex Plasma Facing Components (PFC) (limiters, neutralisers, RF antenna, diagnostic windows, etc.). - In situ localisation of water leakage based on a helium sniffing system is also being studied to improve and facilitate maintenance operations. - Finally a laser ablation system for PFC detritiation, developed in CEA laboratories, is being fitted to be implemented on the robot for future operation in Tore Supra. This paper deals with the integration of the robot into Tore Supra and the progress in the development of the processes listed above. It also describes the current test campaign aiming to qualify the robot performance and reliability under vacuum and temperature conditions

  9. Robotic fabrication and inspection for power plants

    International Nuclear Information System (INIS)

    Date, Ranjit

    2002-01-01

    The usage of Robotic Automation is now an integral part of the modern manufacturing systems. Applications in nuclear power plants is no exception. As a matter of fact, as a result of the hazards of radiations for the human workers makes automation of the on-site working highly desirable. This presentation will focus on the broad benefits by use of automation in Power plants. Various processes and technologies for robotic applications in fabrication, maintenance and inspection will be highlighted. The specific technology features for use in nuclear environments will be highlighted

  10. Robotics Inspection Vehicle for Advanced Storages

    Energy Technology Data Exchange (ETDEWEB)

    Ruiz, Emilio; Renaldi, Graziano; Puig, David; Franzetti, Michele; Correcher, Carlos [European Commission, Ispra (Italy). Inst. for the Protection and Security of the Citizen

    2003-05-01

    After the dismantling of nuclear weapons and the probable release of large quantities of weapon graded materials under international verification regimes, there will be a wide interest in unmanned, highly automated and secure storage areas. In such circumstances, robotics technologies can provide an effective answer to the problem of securing, manipulating and inventorying all stored materials. In view of this future application JRC's NPNS started the development and construction of an advanced robotics prototype and demonstration system, named Robotics Inspection Vehicle (RIV), for remote inspection, surveillance and remote handling in those areas. The system was designed to meet requirements of reliability, security, high availability, robustness against radiation effects, self-maintainability (i.e., auto-repair capability), and easy installation. Due to its innovative holonomic design, RIV is a highly maneuverable and agile platform able to move in any direction, including sideways. The platform carries on-board a five degree of freedom manipulator arm. The high maneuverability and operation modes take into account the needs for accessing in the most easy way materials in the storage area. The platform is prepared to operate in one of three modes: i) manual tele-operation, ii) semiautonomous and iii) fully autonomous. The paper describes RIV's main design features, and details its GENERIS based control software [JRC's software architecture for robotics] and embedded sensors (i.e., 3D laser range, transponder antenna, ultra-sound, vision-based robot guidance, force-torque sensors, etc.). RIV was designed to incorporate several JRC innovative surveillance and inspection technologies and reveals that the current state of technology is mature to effectively provide a solution to novel storage solutions. The system is available for demonstration at JRC's Rialto Laboratory.

  11. The SWAMI inspection robot: Fernald site requirements

    International Nuclear Information System (INIS)

    Hazen, F.B.

    1993-01-01

    The purpose of this document is to introduce and describe the Stored Waste Autonomous Mobile Inspector (SWAMI) robot project and to identify issues that will need to be addressed prior to its field demonstration at Fernald in mid-1995. SWAMI is a mobile robotic vehicle that will perform mandated weekly inspections of waste containers. Fernald has a large inventory of these containers and a need to protect workers from radiation hazards while enhancing the efficiency and effectiveness of the inspections. Fernald's role in this project is to supply the demonstration site and make all necessary preparations. This includes identification of the test areas and plans, and identification and compliance to Federal, State, DOE, and Site regulations on system safety and quality. In addition, Fernald will link SWAMI output images to off-line mass data storage, and also to an on-line ORACLE database. The authors shall initiate a dialog with State and Federal regulators towards the near term goal of acceptance of the SWAMI test plan and a longer term goal of acceptance of SWAMI as a supplement and improvement to present mandated RCRA inspections

  12. Enhancement of submarine pressure hull steel ultrasonic inspection using imaging and artificial intelligence

    Science.gov (United States)

    Hay, D. Robert; Brassard, Michel; Matthews, James R.; Garneau, Stephane; Morchat, Richard

    1995-06-01

    The convergence of a number of contemporary technologies with increasing demands for improvements in inspection capabilities in maritime applications has created new opportunities for ultrasonic inspection. An automated ultrasonic inspection and data collection system APHIUS (automated pressure hull intelligent ultrasonic system), incorporates hardware and software developments to meet specific requirements for the maritime vessels, in particular, submarines in the Canadian Navy. Housed within a hardened portable computer chassis, instrumentation for digital ultrasonic data acquisition and transducer position measurement provide new capabilities that meet more demanding requirements for inspection of the aging submarine fleet. Digital data acquisition enables a number of new important capabilites including archiving of the complete inspection session, interpretation assistance through imaging, and automated interpretation using artificial intelligence methods. With this new reliable inspection system, in conjunction with a complementary study of the significance of real defect type and location, comprehensive new criteria can be generated which will eliminate unnecessary defect removal. As a consequence, cost savings will be realized through shortened submarine refit schedules.

  13. Development of a remote inspection robot for high pressure structures

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Jae C.; Kim, Jae H.; Choi, Yu R.; Moon, Soon S

    1999-10-01

    The high pressure structures in industrial plants must be periodically inspected for ensure their safety. Currently, the examination of them is manually performed by human inspectors, and there are many restrictions to examine the large containers which enclose dangerous chemicals or radioactive materials. We developed a remotely operated robot to examine these structures using recent mobile robot and computer technologies. Our robot has two magnetic caterpillars that make the robot can adhere to the structures made of steel like materials. The robot moves to the position for examination, and scans that position using ultrasonic probes equipped on it's arm, and transmits the result to the inspector according to his/her commands. Without building any auxiliary structures the robot can inspect the places where manual inspection can't reach. Therefore the robot can make shortening the inspection time as well as preventing the inspector from an accident. (author)

  14. Development of a remote inspection robot for high pressure structures

    International Nuclear Information System (INIS)

    Lee, Jae C.; Kim, Jae H.; Choi, Yu R.; Moon, Soon S.

    1999-10-01

    The high pressure structures in industrial plants must be periodically inspected for ensure their safety. Currently, the examination of them is manually performed by human inspectors, and there are many restrictions to examine the large containers which enclose dangerous chemicals or radioactive materials. We developed a remotely operated robot to examine these structures using recent mobile robot and computer technologies. Our robot has two magnetic caterpillars that make the robot can adhere to the structures made of steel like materials. The robot moves to the position for examination, and scans that position using ultrasonic probes equipped on it's arm, and transmits the result to the inspector according to his/her commands. Without building any auxiliary structures the robot can inspect the places where manual inspection can't reach. Therefore the robot can make shortening the inspection time as well as preventing the inspector from an accident. (author)

  15. Development of wall ranging radiation inspection robot

    International Nuclear Information System (INIS)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S.

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall

  16. Development of wall ranging radiation inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Lee, B. J.; Yoon, J. S.; Park, Y. S.; Hong, D. H.; Oh, S. C.; Jung, J. H.; Chae, K. S

    1999-03-01

    With the aging of nation's nuclear facilities, the target of this project is to develop an under water wall ranging robotic vehicle which inspects the contamination level of the research reactor (TRIGA MARK III) as a preliminary process to dismantling. The developed vehicle is driven by five thrusters and consists of small sized control boards, and absolute position detector, and a radiation detector. Also, the algorithm for autonomous navigation is developed and its performance is tested through under water experiments. Also, the test result at the research reactor shows that the vehicle firmly attached the wall while measuring the contamination level of the wall.

  17. Robotic inspection of nuclear waste storage facilities

    International Nuclear Information System (INIS)

    Fulbright, R.; Stephens, L.M.

    1995-01-01

    The University of South Carolina and the Westinghouse Savannah River Company have developed a prototype mobile robot designed to perform autonomous inspection of nuclear waste storage facilities. The Stored Waste Autonomous Mobile Inspector (SWAMI) navigates and inspects rows of nuclear waste storage drums, in isles as narrow as 34 inches with drums stacked three high on each side. SWAMI reads drum barcodes, captures drum images, and monitors floor-level radiation levels. The topics covered in this article reporting on SWAMI include the following: overall system design; typical mission scenario; barcode reader subsystem; video subsystem; radiation monitoring subsystem; position determination subsystem; onboard control system hardware; software development environment; GENISAS, a C++ library; MOSAS, an automatic code generating tool. 10 figs

  18. Development of bus duct inspection robot at nuclear power plant

    International Nuclear Information System (INIS)

    Hamada, Mamoru; Hoshi, Teruaki; Komura, Yoshinari

    2017-01-01

    Under the present situation, nuclear power plant has some places which are inspected with difficulty or not inspected due to narrowness or physical restriction, when carrying out periodical inspection. The subject of our research and development is to improve the accuracy of inspection and also to save labor (liberation from distress work of the worker) by applying a robot technology to the periodical inspection of the nuclear power plant. As a specific example, we report that developed robot can inspect inside the narrow space of Isolated Phase Bus ducts, which connect between a turbine generator and the main transformer. (author)

  19. An intelligent inspection and survey robot

    International Nuclear Information System (INIS)

    Byrd, J.; Holland, J.M.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a semi-autonomous robotic system intended for use in the automatic inspection of stored containers of low level nuclear waste. The project is being performed by a team under the SCUREF (South Carolina University Research and Education Foundation) comprised of the University of South Carolina, and Clemson University, and their industrial partner Cybermotion Inc., with funding from METC, Morgantown, WV. The ARIES program is unusual in the level of cooperation between the universities and Cybermotion. By maintaining daily communications via telephone and E-Mall, participating in frequent meetings with each other and the end users, and by developing an open flow of (sometimes sensitive) technical information, the team has been able to build on a very broad base of intellectual strengths and existing technology without wasteful duplication. This base includes all of the navigation and control software and hardware developed by Cybermotion over nearly a decade and the deep technology resources of the university partners. It is anticipated that the result will be a technically advanced system that is much closer to a deployable configuration than is typical for this stage of research. In this decade of shrinking budgets, such relationships can provide a crucial advantage for all participants

  20. A study on in-pipe inspection mobile robots, 3

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Uemura, Masahiro.

    1990-01-01

    This paper deals with inspection path planning for in-pipe inspection mobile robots which have the capability of moving through complicated pipeline networks. It is imperative that the robot systems have an inspection path planning system for such networks for their reasonable and rational operation, controlled by themselves or by the operators. The planning mainly requires two projects: the selection of the place to put the robot in or out, and the generation of the paths in the networks. This system provides the for complicated problems with plural inspection points using a basic strategy of systematically producing patterns and dividing partial problems of simple searches based on rules. (author)

  1. Hydro-Quebec inspection robot RIT-LRG

    International Nuclear Information System (INIS)

    Champagne, D.; Rinfret, F.; Bourgault, Y.G.

    2008-01-01

    Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

  2. Hydro-Quebec inspection robot RIT-LRG

    Energy Technology Data Exchange (ETDEWEB)

    Champagne, D., E-mail: champagne.dominique@ireq.ca [Inst. de recherche d' Hydro-Quebec, Quebec (Canada); Rinfret, F.; Bourgault, Y.G., E-mail: rinfret.francois@hydro.qc.ca, E-mail: bourgault.yves.g@hydro.qc.ca [Hydro-Quebec, Becancour, Quebec (Canada)

    2008-07-01

    Hydro Quebec's Research Centre (IREQ), has developed a variety of inspection tools over the years. The Metar bracelet for the feeder tubes, the REC robot for the heat exchanger and the RIT robot for the Delayed Neutron system just to name a few. This paper discusses with the successful deployment of the Camera Probe Positioning robot for Visual Inspection of the sample lines of the delayed neutron system of CANDU power plants. This RIT robot has three possible configurations (Face, Cabinet and LRG configurations) and has remained a prototype version although it has been used over the years in many outage inspection campaigns since 1997. The main advantages of using this robot are: the significant reduction in radiation exposure, the high quality of the data collected and the archiving of inspection data for further analysis and reports. In 2007, Gentilly-2 (G-2), decided to industrialize the LRG configuration of the RIT robot and to designate it the standard tool for the inspection of the Delayed Neutron System. An improved RIT-LRG robot, along with its control box and command station was developed. The software had to be rewritten requiring an ergonomics analysis of user tasks, work station and interface display. These issues included both physical and cognitive requirements aspects. The two principal topics of this paper will be on the Inspection Robot Technology developed and highlights of the 2008 outage inspection campaign. (author)

  3. Robot technology in remote inspection and repair

    International Nuclear Information System (INIS)

    Lowe, D.B.

    1981-01-01

    The development of remotely controlled equipment for use in a hostile (eg radioactive) environment is reviewed. Inspection and repair work in the core vessel of a nuclear reactor is a particular example of the need for robot devices. Devices with the ability to reach out after entering the interior of the reactor and perform specified operations some distance from the entry axis are needed. It is also necessary to design with tool retrieval emergencies in mind. Should an accident or malfunction prevent withdrawal of the equipment by normal means there must be a fail-safe mechanism of collapse and withdrawal. Visual contact with the device, usually by closed circuit TV is also necessary. Recent developments are described. These include stereoscopic imaging, a flexible arm of increased reach, dexterity and strength, and a computerized robotic arm with seven degrees of freedom to be deployed by the flexible arm. Microprocessors are used to analyse information and command functions. A current solution of the need for precise positioning and tracking of a NDT head round a reactor core is illustrated. (U.K.)

  4. Low-level stored waste inspection using mobile robots

    International Nuclear Information System (INIS)

    Byrd, J.S.; Pettus, R.O.

    1996-01-01

    A mobile robot inspection system, ARIES (Autonomous Robotic Inspection Experimental System), has been developed for the U.S. Department of Energy to replace human inspectors in the routine, regulated inspection of radioactive waste stored in drums. The robot will roam the three-foot aisles of drums, stacked four high, making decisions about the surface condition of the drums and maintaining a database of information about each drum. A distributed system of onboard and offboard computers will provide versatile, friendly control of the inspection process. This mobile robot system, based on a commercial mobile platform, will improve the quality of inspection, generate required reports, and relieve human operators from low-level radioactive exposure. This paper describes and discusses primarily the computer and control processes for the system

  5. Remote radioactive waste drum inspection with an autonomous mobile robot

    International Nuclear Information System (INIS)

    Heckendorn, F.M.; Ward, C.R.; Wagner, D.G.

    1992-01-01

    An autonomous mobile robot is being developed to perform remote surveillance and inspection task on large numbers of stored radioactive waste drums. The robot will be self guided through narrow storage aisles and record the visual image of each viewable drum for subsequent off line analysis and archiving. The system will remove the personnel from potential exposure to radiation, perform the require inspections, and improve the ability to assess the long term trends in drum conditions

  6. Robots in pipe and vessel inspection: past, present, and future

    International Nuclear Information System (INIS)

    Mueller, T.A.; Tyndall, J.F.

    1984-01-01

    Over the past several decades, remotely operated scanners have been employed to inspect piping and pressure vessels. These devices in their early forms were manually controlled manipulators functioning as mere extensions of the operator. With the addition of limit sensing, speed control, and positional feedback and display, the early manipulators became primitive robots. By adding computer controls with their degree of intelligence to the devices, they achieved the status of robots. Future applications of vision, adaptive control, proximity sensing, and pattern recognition will bring these devices to a level of intelligence that will make automated robotic inspection of pipes and pressure vessels a true reality

  7. Research on the inspection robot for cable tunnel

    Science.gov (United States)

    Xin, Shihao

    2017-03-01

    Robot by mechanical obstacle, double end communication, remote control and monitoring software components. The mechanical obstacle part mainly uses the tracked mobile robot mechanism, in order to facilitate the design and installation of the robot, the other auxiliary swing arm; double side communication part used a combination of communication wire communication with wireless communication, great improve the communication range of the robot. When the robot is controlled by far detection range, using wired communication control, on the other hand, using wireless communication; remote control part mainly completes the inspection robot walking, navigation, positioning and identification of cloud platform control. In order to improve the reliability of its operation, the preliminary selection of IPC as the control core the movable body selection program hierarchical structure as a design basis; monitoring software part is the core part of the robot, which has a definite diagnosis Can be instead of manual simple fault judgment, instead the robot as a remote actuators, staff as long as the remote control can be, do not have to body at the scene. Four parts are independent of each other but are related to each other, the realization of the structure of independence and coherence, easy maintenance and coordination work. Robot with real-time positioning function and remote control function, greatly improves the IT operation. Robot remote monitor, to avoid the direct contact with the staff and line, thereby reducing the accident casualties, for the safety of the inspection work has far-reaching significance.

  8. Robotics for waste storage inspection: A user's perspective

    International Nuclear Information System (INIS)

    Hazen, F.B.

    1994-01-01

    Self-navigating robotic vehicles are now commercially available, and the technology supporting other important system components has also matured. Higher reliability and the obtainability of system support now make it practical to consider robotics as a way of addressing the growing operational requirement for the periodic inspection and maintenance of radioactive, hazardous, and mixed waste inventories. This paper describes preparations for the first field deployment of an autonomous container inspection robot at a Department of Energy (DOE) site. The Stored Waste Autonomous Mobile Inspector (SWAMI) is presently being completed by engineers at the Savannah River Technology Center (SRTC). It is a modified version of a commercially available robot. It has been outfitted with sensor suites and cognition that allow it to perform inspections of drum inventories and their storage facilities

  9. Development of automatic inspection robot for nuclear power plants

    International Nuclear Information System (INIS)

    Yamada, K.; Suzuki, K.; Saitoh, K.; Sakaki, T.; Ohe, Y.; Mizutani, T.; Segawa, M.; Kubo, K.

    1987-01-01

    This robot system has been developed for automatic inspection of nuclear power plants. The system configuration is composed of vehicle that runs on monorail, the sensors on the vehicle, an image processer that processes the image information from the sensors, a computer that creates the inspection planning of the robot and an operation panel. This system has two main features, the first is the robot control system. The vehicle and the sensors are controlled by the output data calculated in the computer with the three dimensional plant data. The malfunction is recognized by the combination of the results of image processing, information from the microphone and infrared camera. Tests for a prototype automatic inspection robot system have been performed in the simulated main steam piping room of a nuclear power plant

  10. Vision Based Autonomous Robotic Control for Advanced Inspection and Repair

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

    The advanced inspection system is an autonomous control and analysis system that improves the inspection and remediation operations for ground and surface systems. It uses optical imaging technology with intelligent computer vision algorithms to analyze physical features of the real-world environment to make decisions and learn from experience. The advanced inspection system plans to control a robotic manipulator arm, an unmanned ground vehicle and cameras remotely, automatically and autonomously. There are many computer vision, image processing and machine learning techniques available as open source for using vision as a sensory feedback in decision-making and autonomous robotic movement. My responsibilities for the advanced inspection system are to create a software architecture that integrates and provides a framework for all the different subsystem components; identify open-source algorithms and techniques; and integrate robot hardware.

  11. Intelligent robots for nuclear power plant inspection and surveillance

    International Nuclear Information System (INIS)

    Miyazawa, Tatsuo; Suzuki, Kazumi; Fujie, Hideo; Fujii, Masaaki; Asai, Takashi; Sugimoto, Hiroshi.

    1986-01-01

    Recently, the research and development of robotizing the patrol and works in nuclear power plants have been actively carried out since the TMI-2 accident in March, 1979. In this paper, among these robots, six examples of the movable robots, of which the working and movement were intellectualized by using information processing techniques and others, are reported, and their intellectualization is concretely discussed. In Japan, the development of the supporting system for nuclear power generation was carried out for five years from fiscal year 1980 as the project subsidized by the Ministry of International Trade and Industry, and during this period, the inspection robots for LWR plants were developed. The development of the robots for ultimate working as the large scale project of the Agency of Industrial Science and Technology aiming at further heightening the function is in progress as the eight-year project from fiscal year 1983. Monorail type automatic surveillance robots, system maintenance robots 'AMOOTY', variable crawler type intelligent movable robots, hybrid running type intelligent movable robots, monorail running type small checkup robots, and floor running type checkup and light work robots are reported. Sense information processing control and a robot language processor for expanding the function of autonomous control are outlined. (Kako, I.)

  12. Pipelines inspection robots; Robos para inspecao de linhas de servico

    Energy Technology Data Exchange (ETDEWEB)

    Archila Diaz, John Faber; Dutra, Max Suell [Universidade Federal do Rio de Janeiro (UFRJ), RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia (COPPE). Lab. de Robotica

    2008-07-01

    One of the problems existing in the area of maintenance of systems for the transport of mass and / or energy is to examine the integrity of the lines of service in the basic infrastructure of cities and industries. For the development of maintenance, whether predictive, preventive or corrective is necessary to conduct the inspection of these lines. To carry out this task is necessary count on help of appropriate technological tools. The main tools for inspection of service lines come from the area of external inspection of pipelines and are also in development, the problem happens when we need to achieve internal or external failures in places of difficult access, and move the inspection equipment to places where it's going to fail. In these cases it is necessary to the use of mechatronic systems, more specifically robotic systems, which may be developed for inspection. This paper aims to present the main robotic systems used for inspection, especially for internal inspection of pipelines. These systems have been developed by the research groups in Brazil, Japan, and Belgium among others, giving up a classification of robots for inspection of pipelines and the main features necessary for its project. (author)

  13. Pipelines inspection robots; Robos para inspecao de linhas de servico

    Energy Technology Data Exchange (ETDEWEB)

    Archila Diaz, John Faber; Dutra, Max Suell [Universidade Federal do Rio de Janeiro (UFRJ), RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia (COPPE). Lab. de Robotica

    2008-07-01

    One of the problems existing in the area of maintenance of systems for the transport of mass and / or energy is to examine the integrity of the lines of service in the basic infrastructure of cities and industries. For the development of maintenance, whether predictive, preventive or corrective is necessary to conduct the inspection of these lines. To carry out this task is necessary count on help of appropriate technological tools. The main tools for inspection of service lines come from the area of external inspection of pipelines and are also in development, the problem happens when we need to achieve internal or external failures in places of difficult access, and move the inspection equipment to places where it's going to fail. In these cases it is necessary to the use of mechatronic systems, more specifically robotic systems, which may be developed for inspection. This paper aims to present the main robotic systems used for inspection, especially for internal inspection of pipelines. These systems have been developed by the research groups in Brazil, Japan, and Belgium among others, giving up a classification of robots for inspection of pipelines and the main features necessary for its project. (author)

  14. Autonomous navigation system for mobile robots of inspection

    International Nuclear Information System (INIS)

    Angulo S, P.; Segovia de los Rios, A.

    2005-01-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  15. A survey on inspecting structures using robotic systems

    Directory of Open Access Journals (Sweden)

    Randa Almadhoun

    2016-11-01

    Full Text Available Advancements in robotics and autonomous systems are being deployed nowadays in many application domains such as search and rescue, industrial automation, domestic services and healthcare. These systems are developed to tackle tasks in some of the most challenging, labour intensive and dangerous environments. Inspecting structures (e.g. bridges, buildings, ships, wind turbines and aircrafts is considered a hard task for humans to perform and of critical importance since missing any details could affect the structure’s performance and integrity. Additionally, structure inspection is time and resource intensive and should be performed as efficiently and accurately as possible. Inspecting various structures has been reported in the literature using different robotic platforms to: inspect difficult to reach areas and detect various types of faults and anomalies. Typically, inspection missions involve performing three main tasks: coverage path planning, shape, model or surface reconstruction and the actual inspection of the structure. Coverage path planning ensures the generation of an optimized path that guarantees the complete coverage of the structure of interest in order to gather highly accurate information to be used for shape/model reconstruction. This article aims to provide an overview of the recent work and breakthroughs in the field of coverage path planning and model reconstruction, with focus on 3D reconstruction, for the purpose of robotic inspection.

  16. A mobile robot for remote inspection of radioactive waste

    International Nuclear Information System (INIS)

    Suh, Y. C.; Kim, C. H.; Cho, J. W.; Choi, Y. S.; Kim, S. H.

    2004-01-01

    Tele-operation and remote monitoring techniques are essential and important technologies for the inspection and maintenance of the radioactive waste. A mobile robot has been developed for the application of remote monitoring and inspection of nuclear facilities, where human access is limited because of the high-level radioactive environments. The mobile robot was designed with reconfigurable crawler type of wheels attached on the front and rear side in order to pass through the ditch. The extendable mast, mounted on the mobile robot, car be extended up to 8 m vertically. The robust controller for radiation is designed in focus on electric components to prevent abnormal operation in a highly radioactivated area during reactor operation. This robot system will enhance the reliability of nuclear power facilities, and cope with the unexpected radiation accident

  17. Mechatronics Design of an Autonomous Pipe-Inspection Robot

    Directory of Open Access Journals (Sweden)

    Abdellatif Mohamed

    2018-01-01

    Full Text Available Pipelines require periodical inspection to detect corrosion, deformation and congestion with obstacles in the network. Autonomous mobile robots are good solutions for this task. Visual information from the pipe interior associated with a location stamp is needed for inspection. In this paper, the previous designs of autonomous robots are reviewed and a new robot is developed to ensure simple design and smooth motion. Images are processed online to detect irregularity in pipe and then start capturing high resolution pictures to conserve the limited memory size. The new robot moves in pipes and provides video stream of pipe interior with location stamp. The visual information can later be processed offline to extract more information of pipeline condition to make maintenance decisions.

  18. An approach to software quality assurance for robotic inspection systems

    International Nuclear Information System (INIS)

    Kiebel, G.R.

    1993-10-01

    Software quality assurance (SQA) for robotic systems used in nuclear waste applications is vital to ensure that the systems operate safely and reliably and pose a minimum risk to humans and the environment. This paper describes the SQA approach for the control and data acquisition system for a robotic system being developed for remote surveillance and inspection of underground storage tanks (UST) at the Hanford Site

  19. Evaluation of robotic inspection systems at nuclear power plants

    International Nuclear Information System (INIS)

    White, J.R.; Eversole, R.E.; Farnstrom, K.A.; Harvey, H.W.; Martin, H.L.

    1984-03-01

    This report presents and demonstrates a cost-effective approach for robotics application (CARA) to surveillance and inspection work in existing nuclear power plants. The CARA was developed by the Remote Technology Corporation to systematically determine the specific surveillance/inspection tasks, worker hazards, and access or equipment placement restraints in each of the many individual rooms or areas at a power plant. Guidelines for designing inspection robotics are included and are based upon the modular arrangement of commercially-available sensors and other components. Techniques for maximizing the cost effectiveness of robotics are emphasized in the report including: selection of low-cost robotic components, minimal installation work in plant areas, portable systems for common use in different areas, and standardized robotic modules. Factors considered as benefits are reduced radiation exposure, lower man-hours, shorter power outage, less waste material, and improved worker safety concerns. A partial demonstration of the CARA methodology to the Sequoyah (PWR) and Browns Ferry (BWR) Plants is provided in the report along with specific examples of robotic installations in high potential areas

  20. An intelligent inspection and survey robot. Volume 1

    International Nuclear Information System (INIS)

    1995-01-01

    ARIES number-sign 1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new Model K3A consists of an improved and enhanced mobile platform and a new turret that will permit turning around in a three-foot aisle. Advanced sonar and lidar systems were added to improve navigation in the narrow drum aisles. Onboard computer enhancements include a VMEbus computer system running the VxWorks real-time operating system. A graphical offboard supervisory UNIX workstation is used for high-level planning, control, monitoring, and reporting. A camera positioning system (CPS) includes primitive instructions for the robot to use in referencing and positioning the payload. The CPS retracts to a more compact position when traveling in the open warehouse. During inspection, the CPS extends up to deploy inspection packages at different heights on the four-drum stacks of 55-, 85-, and 110-gallon drums. The vision inspection module performs a visual inspection of the waste drums. This system will locate and identify each drum, locate any unique visual features, characterize relevant surface features of interest and update a data-base containing the inspection data

  1. An intelligent inspection and survey robot. Volume 1

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-15

    ARIES {number_sign}1 (Autonomous Robotic Inspection Experimental System), has been developed for the Department of Energy to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an inspection operation, typically performed by a human operator, making decisions about the condition of the drums and maintaining a database of pertinent information about each drum. A new version of the Cybermotion series of mobile robots is the base mobile vehicle for ARIES. The new Model K3A consists of an improved and enhanced mobile platform and a new turret that will permit turning around in a three-foot aisle. Advanced sonar and lidar systems were added to improve navigation in the narrow drum aisles. Onboard computer enhancements include a VMEbus computer system running the VxWorks real-time operating system. A graphical offboard supervisory UNIX workstation is used for high-level planning, control, monitoring, and reporting. A camera positioning system (CPS) includes primitive instructions for the robot to use in referencing and positioning the payload. The CPS retracts to a more compact position when traveling in the open warehouse. During inspection, the CPS extends up to deploy inspection packages at different heights on the four-drum stacks of 55-, 85-, and 110-gallon drums. The vision inspection module performs a visual inspection of the waste drums. This system will locate and identify each drum, locate any unique visual features, characterize relevant surface features of interest and update a data-base containing the inspection data.

  2. Towards an automated checked baggage inspection system augmented with robots

    Science.gov (United States)

    DeDonato, Matthew P.; Dimitrov, Velin; Padır, Taskin

    2014-05-01

    We present a novel system for enhancing the efficiency and accuracy of checked baggage screening process at airports. The system requirements address the identification and retrieval of objects of interest that are prohibited in a checked luggage. The automated testbed is comprised of a Baxter research robot designed by Rethink Robotics for luggage and object manipulation, and a down-looking overhead RGB-D sensor for inspection and detection. We discuss an overview of current system implementations, areas of opportunity for improvements, robot system integration challenges, details of the proposed software architecture and experimental results from a case study for identifying various kinds of lighters in checked bags.

  3. Development of a remote tank inspection robotic system

    International Nuclear Information System (INIS)

    Knape, B.P.; Bares, L.C.

    1990-01-01

    RedZone Robotics is currently developing a remote tank inspection (RTI) robotic system for Westinghouse Idaho Nuclear Company (WINCO). WINCO intends to use the RTI robotic system at the Idaho Chemical Processing Plant, a facility that contains a tank farm of several 1,135,500-ell (300,000-gal), 15.2-m (50-ft)-diam, high-level liquid waste storage tanks. The primary purpose of the RTI robotic system is to inspect the interior of these tanks for corrosion that may have been caused by the combined effects of radiation, high temperature, and caustic by the combined effects of radiation, high temperature, and caustic chemicals present inside the tanks. The RTI robotic system features a vertical deployment unit, a robotic arm, and a remote control console and computer [located up to 30.5 m (100 ft) away from the tank site]. All actuators are high torque, electric dc brush motors that are servocontrolled with absolute position feedback. The control system uses RedZone's standardized intelligent controller for enhanced telerobotics, which provides a high speed, multitasking environment on a VME bus. Currently, the robot is controlled in a manual, job-button, control mode; however, control capability is available to develop preprogrammed, automated modes of operation

  4. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min [Korea Atomic Energy Research Inst., Taejon (Korea, Republic of)

    1994-12-31

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author).

  5. Teleoperated mobile robot (KAEROT) for inspection in nuclear facilities

    International Nuclear Information System (INIS)

    Kim, Byung-Soo; Kim, Chang-Hoi; Hwang, Suk-Young; Kim, Seung-Ho; Lee, Jong-Min

    1994-01-01

    A teleoperated mobile robot, named as KAEROT, has been developed for inspection and maintenance in nuclear facilities. It is composed of the planetary wheel-type mobile unit and 5 DOF manipulator one. The mobile unit is able to climb up and down stairs with high stability. This paper presents the kinematic analysis of KAEROT and the stair climbing algorithm. The proposed algorithm consists of two parts; one is to generate the moving path, and the other is to calculate the angular velocity of each wheel to follow up the generated reference path. Simulations and experiments on the irregular stairs have been carried out with the developed mobile robot. The proposed algorithm is proved to be very effective for inspection in nuclear facilities. The inclination angle of robot is maintained below 30.8deg while it is climbing up the stairs of a slope of 25deg. (author)

  6. Trajectory planning of tokamak flexible in-vessel inspection robot

    International Nuclear Information System (INIS)

    Wang, Hesheng; Chen, Weidong; Lai, Yinping; He, Tao

    2015-01-01

    Highlights: • A tokamak flexible in-vessel inspection robot is designed. • Two trajectory planning methods are used to ensure the full coverage of the first wall scanning. • The method is tested on a simulated platform of EAST with the flexible in-vessel inspection robot. • Experimental results show the effectiveness of the proposed algorithm. - Abstract: Tokamak flexible in-vessel inspection robot is mainly designed to carry a camera for close observation of the first wall of the vacuum vessel, which is essential for the maintenance of the future tokamak reactor without breaking the working condition of the vacuum vessel. A tokamak flexible in-vessel inspection robot is designed. In order to improve efficiency of the remote maintenance, it is necessary to design a corresponding trajectory planning algorithm to complete the automatic full coverage scanning of the complex tokamak cavity. Two different trajectory planning methods, RS (rough scanning) and FS (fine scanning), according to different demands of the task, are used to ensure the full coverage of the first wall scanning. To quickly locate the damage position, the first trajectory planning method is targeted for quick and wide-ranging scan of the tokamak D-shaped section, and the second one is for careful observation. Furthermore, both of the two different trajectory planning methods can ensure the full coverage of the first wall scanning with an optimal end posture. The method is tested on a simulated platform of EAST (Experimental Advanced Superconducting Tokamak) with the flexible in-vessel inspection robot, and the results show the effectiveness of the proposed algorithm.

  7. Trajectory planning of tokamak flexible in-vessel inspection robot

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China); Lai, Yinping; He, Tao [Department of Automation, Shanghai Jiao Tong University, 200240 Shanghai (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China, 200240 Shanghai (China)

    2015-10-15

    Highlights: • A tokamak flexible in-vessel inspection robot is designed. • Two trajectory planning methods are used to ensure the full coverage of the first wall scanning. • The method is tested on a simulated platform of EAST with the flexible in-vessel inspection robot. • Experimental results show the effectiveness of the proposed algorithm. - Abstract: Tokamak flexible in-vessel inspection robot is mainly designed to carry a camera for close observation of the first wall of the vacuum vessel, which is essential for the maintenance of the future tokamak reactor without breaking the working condition of the vacuum vessel. A tokamak flexible in-vessel inspection robot is designed. In order to improve efficiency of the remote maintenance, it is necessary to design a corresponding trajectory planning algorithm to complete the automatic full coverage scanning of the complex tokamak cavity. Two different trajectory planning methods, RS (rough scanning) and FS (fine scanning), according to different demands of the task, are used to ensure the full coverage of the first wall scanning. To quickly locate the damage position, the first trajectory planning method is targeted for quick and wide-ranging scan of the tokamak D-shaped section, and the second one is for careful observation. Furthermore, both of the two different trajectory planning methods can ensure the full coverage of the first wall scanning with an optimal end posture. The method is tested on a simulated platform of EAST (Experimental Advanced Superconducting Tokamak) with the flexible in-vessel inspection robot, and the results show the effectiveness of the proposed algorithm.

  8. Robotic inspection of fiber reinforced composites using phased array UT

    Science.gov (United States)

    Stetson, Jeffrey T.; De Odorico, Walter

    2014-02-01

    Ultrasound is the current NDE method of choice to inspect large fiber reinforced airframe structures. Over the last 15 years Cartesian based scanning machines using conventional ultrasound techniques have been employed by all airframe OEMs and their top tier suppliers to perform these inspections. Technical advances in both computing power and commercially available, multi-axis robots now facilitate a new generation of scanning machines. These machines use multiple end effector tools taking full advantage of phased array ultrasound technologies yielding substantial improvements in inspection quality and productivity. This paper outlines the general architecture for these new robotic scanning systems as well as details the variety of ultrasonic techniques available for use with them including advances such as wide area phased array scanning and sound field adaptation for non-flat, non-parallel surfaces.

  9. A locomotive inspection robot for turbine building interior inspection in nuclear power plants

    International Nuclear Information System (INIS)

    Obama, M.; Ozaki, F.; Asano, K.

    1985-01-01

    A locomotive inspection robot, named Turbine Building Inspection System (TBIS), has been developed for turbine building interior inspections in nuclear power plants. This robot is made up of a vehicle, a telescopic support, turning head and a multijoint arm which has dual TV cameras and a diagnostic rod on its tip. The multijoint arm has 17 degrees of freedom and its length is 243 cm. Minimum and maximum heights for the multijoint arm shoulder are 1.5 meter and 4 meters respectively. The total degree of freedom in the combination of the multijoint arm, turning head and telescopic support is 19 and the area, it is capable of inspecting, is equal to the cylindrical dome whose height and diameter are 6.4 meters and 4.8 meters respectively. The design philosophy, hardware structure and operation method of the TBIS are described. 2 refs.; 10 figs

  10. A Cable-tunnel Inspecting Robot for Dangerous Environment

    Directory of Open Access Journals (Sweden)

    Fu Zhuang

    2008-11-01

    Full Text Available This paper presents a kind of mobile robot used for inspecting the cable tunnel online in the dangerous environment. Usually, the calble tunnel is full of poisonous gases after fire, such as CO,CH4, CO2 and so on. Then, the mobile robot is able to tell us whether the tunnel environment is safe or not. In this paper the architecture of the robot is designed at first to meet the motion requirement in the tunnel. These characteristics distinguish the mobile robot from others like compact structure,small size,little weight and easily being carried. Next, the moving mechanism and its kinematics are described. And thus, the operating procedure and experiments are introuduced to validate its reliablity.

  11. A cable-tunnel inspecting robot for dangerous environment

    Directory of Open Access Journals (Sweden)

    Fu Zhuang

    2008-09-01

    Full Text Available This paper presents a kind of mobile robot used for inspecting the cable tunnel online in the dangerous environment. Usually, the calble tunnel is full of poisonous gases after fire, such as CO, CH4, CO2 and so on. Then, the mobile robot is able to tell us whether the tunnel environment is safe or not. In this paper the architecture of the robot is designed at first to meet the motion requirement in the tunnel. These characteristics distinguish the mobile robot from others like compact structure, small size, little weight and easily being carried. Next, the moving mechanism and its kinematics are described. And thus, the operating procedure and experiments are introuduced to validate its reliablity.

  12. Localization of a Robotic Crawler for CANDU Fuel Channel Inspection

    Science.gov (United States)

    Manning, Mark

    This thesis discusses the design and development of a pipe crawling robot for the purpose of CANDU fuel channel inspection. The pipe crawling robot shall be capable of deploying the existing CIGAR (Channel Inspection and Gauging Apparatus for Reactors) sensor head. The main focus of this thesis is the design of the localization system for this robot and the many tests that were completed to demonstrate its accuracy. The proposed localization system consists of three redundant resolver wheels mounted to the robot's frame and two resolvers that are mounted inside a custom made cable drum. This cable drum shall be referred to in this thesis as the emergency retrieval device. This device serves the dual-purpose of providing absolute position measurements (via the cable that is tethered to the robot) as well as retrieving the robot if it is inoperable. The estimated accuracy of the proposed design is demonstrated with the use of a proof-of-concept prototype and a custom made test bench that uses a vision system to provide a more accurate estimate of the robot's position. The only major difference between the proof-of-concept prototype and the proposed solution is that the more expensive radiation hardened components were not used in the proof-of-concept prototype design. For example, the proposed solution shall use radiation hardened resolver wheels, whereas the proof-of-concept prototype used encoder wheels. These encoder wheels provide the same specified accuracy as the radiation hardened resolvers for the most realistic results possible. The rationale behind the design of the proof-of-concept prototype, the proposed final design, the design of the localization system test bench, and the test plan for developing all of the components of the design related to the robot's localization system are discussed in the thesis. The test plan provides a step by step guide to the configuration and optimization of an Unscented Kalman Filter (UKF). The UKF was selected as the ideal

  13. An intelligent inspection and survey robot. Volume 2

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1995-12-15

    Radioactive materials make up a significant part of the hazardous-material inventory of the Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified.

  14. An intelligent inspection and survey robot. Volume 2

    International Nuclear Information System (INIS)

    1995-01-01

    Radioactive materials make up a significant part of the hazardous-material inventory of the Department of Energy. Much of the radioactive material will be inspected or handled by robotic systems that contain electronic circuits that may be damaged by gamma radiation and other particles emitted from radioactive material. This report examines several scenarios, the damage that may be inflicted, and methods that may be used to protect radiation-hardened robot control systems. Commercial sources of components and microcomputers that can withstand high radiation exposure are identified

  15. An autonomous mobil robot to perform waste drum inspections

    International Nuclear Information System (INIS)

    Peterson, K.D.; Ward, C.R.

    1994-01-01

    A mobile robot is being developed by the Savannah River Technology Center (SRTC) Robotics Group of Westinghouse Savannah River company (WSRC) to perform mandated inspections of waste drums stored in warehouse facilities. The system will reduce personnel exposure and create accurate, high quality documentation to ensure regulatory compliance. Development work is being coordinated among several DOE, academic and commercial entities in accordance with DOE's technology transfer initiative. The prototype system was demonstrated in November of 1993. A system is now being developed for field trails at the Fernald site

  16. Development of a SG Tube Inspection/maintenance Robot

    International Nuclear Information System (INIS)

    Shin, Ho Cheol; Jung, Kyung Min; Choi, Chang Hwan; Kim, Seung Ho

    2005-01-01

    A radiation hardened robot system is developed which assists in an automatic non-destructive testing and the repair of nuclear steam generator tubes. And a control system is developed. For easy carriage and installation, the robot system consists of three separable parts: a manipulator, a water chamber entering and leaving device of the manipulator and a manipulator base pose adjusting device. The kinematic analysis using the grid method was performed to search for the optimal manipulator's link parameters, and the stress analysis of the robotic system was also carried out for a structural safety verification. The robotic control system consists of a main personal computer placed near the operator and a local robotic position controller placed near the steam generator. A software program to control and manage the robotic system has been developed on the NT based OS to increase the usability. The software program provides a robot installation function, a robot calibration function, a managing and arranging function for the eddy-current test, a real time 3- D graphic simulation function which offers a remote reality to operators and so on. The image information acquired from the camera attached to the end-effector is used to calibrate the end-effector pose error and the time-delayed control algorithm is applied to calculate the optimal PID gain of the position controller. Eddy-current probe guide devices, a brushing tool, a motorized plugging tool and a U-tube internal visual inspection system have been developed. A data acquisition system was built to acquire and process the eddy-current signals, and a software program for eddy-current signal acquisition and processing. The developed robotic system has been tested in the Ulchin NPP type steam generator mockup in a laboratory. The final function test was carried out at the Kori Npp type steam generator mockup in the Kori training center

  17. Control system for a multi-joint inspection robot

    International Nuclear Information System (INIS)

    Asano, K.

    1984-01-01

    Remote systems, in which a human operator in a safe zone determines pertinent circumstances and makes decisions on work procedures, while a robot does direct work in hazardous environments, have been becoming more and more important in accordance with the increase in nuclear facilities. In such remote systems, to perform tasks which are merely ambiguously defined beforehand, it is very important that the systems have the ability to execute desired tasks easily and immediately without any programming or teaching work on the spot. A control system, named Self Approach System (SAS), for a multi-joint inspection robot has been developed as a key component in a remote inspection system for use in physically difficult or dangerous environments. It has 8 joints and 17 degrees-of-freedom and was designed taking many of the above points into account. This paper describes SAS details

  18. Inspection and repair of steam generator tubing with a robot

    International Nuclear Information System (INIS)

    Boehm, H.H.; Foerch, H.

    1985-01-01

    During inspection and repair of steam generator tubing, radiation exposure to personnel is an unrequested endowment. To combat this intrinsic handicap, a robot has been designed for deployment in all operations inside the steam generator water chamber. This measure drastically reduces entering time and also improves inspection capabilities with regard to the accuracy and reproduction of the desired tube address. The inherent flexibility of the robot allows for performing various inspection and repair techniques: eddy-current testing of tubing; ultrasonic testing of tubing; visual examination of tube ends; profilometry measurements; tube plugging; plug removal; tube extraction; sleeving of tubes; tube end repair; chemical cleaning; and thermal treatment. Plant experience has highlighted the following features of the robot: 1) short installation and demounting periods; 2) installation independent of manhole location; 3) installation possible from outside the steam generator; 4) only one relocation required to address all the tube positions; 5) fast and highly accurate positioning; 6) operational surveillance not required; and 7) drastic reduction of radiation exposure to personnel during repair work

  19. In-service inspection robot for PFBR main vessel- concept

    Energy Technology Data Exchange (ETDEWEB)

    Rajendran, S; Ramakumar, M S [Bhabha Atomic Research Centre, Mumbai (India). Div. of Remote Handling and Robotics

    1994-12-31

    In-service inspection (ISI) of critical components in a nuclear reactor is one of the foremost and important tasks which reveals the state of health of the system, thereby ensuring the safety of the plant, personnel and environment. Prototype Fast Breeder Reactor (PFBR) is designed as a pool type reactor. A safety vessel is provided in the design which envelopes the main reactor vessel. The ISI of the main vessel is mandatory and will be carried out by a robot which will operate on this annular gap. The design of the robot is such that it can crawl around the vessel and into the gap at the bottom of the vessel relying on friction grip. The mobile robot will carry a CCTV camera and the inspection technique packages into the interspace, position and orient these to carry out the ISI of the main vessel. The paper discusses about the design features of the robot including the gripping mechanism and the crawling sequence to perform ISI of the reactor vessel. 3 figs.

  20. In-service inspection robot for PFBR main vessel- concept

    International Nuclear Information System (INIS)

    Rajendran, S.; Ramakumar, M.S.

    1994-01-01

    In-service inspection (ISI) of critical components in a nuclear reactor is one of the foremost and important tasks which reveals the state of health of the system, thereby ensuring the safety of the plant, personnel and environment. Prototype Fast Breeder Reactor (PFBR) is designed as a pool type reactor. A safety vessel is provided in the design which envelopes the main reactor vessel. The ISI of the main vessel is mandatory and will be carried out by a robot which will operate on this annular gap. The design of the robot is such that it can crawl around the vessel and into the gap at the bottom of the vessel relying on friction grip. The mobile robot will carry a CCTV camera and the inspection technique packages into the interspace, position and orient these to carry out the ISI of the main vessel. The paper discusses about the design features of the robot including the gripping mechanism and the crawling sequence to perform ISI of the reactor vessel. 3 figs

  1. Thermal Tracking in Mobile Robots for Leak Inspection Activities

    Directory of Open Access Journals (Sweden)

    Iñaki Maurtua

    2013-10-01

    Full Text Available Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system.

  2. Thermal tracking in mobile robots for leak inspection activities.

    Science.gov (United States)

    Ibarguren, Aitor; Molina, Jorge; Susperregi, Loreto; Maurtua, Iñaki

    2013-10-09

    Maintenance tasks are crucial for all kind of industries, especially in extensive industrial plants, like solar thermal power plants. The incorporation of robots is a key issue for automating inspection activities, as it will allow a constant and regular control over the whole plant. This paper presents an autonomous robotic system to perform pipeline inspection for early detection and prevention of leakages in thermal power plants, based on the work developed within the MAINBOT (http://www.mainbot.eu) European project. Based on the information provided by a thermographic camera, the system is able to detect leakages in the collectors and pipelines. Beside the leakage detection algorithms, the system includes a particle filter-based tracking algorithm to keep the target in the field of view of the camera and to avoid the irregularities of the terrain while the robot patrols the plant. The information provided by the particle filter is further used to command a robot arm, which handles the camera and ensures that the target is always within the image. The obtained results show the suitability of the proposed approach, adding a tracking algorithm to improve the performance of the leakage detection system.

  3. Ultra light inspection robotic arm, design and modeling

    International Nuclear Information System (INIS)

    Voisembert, S.

    2012-01-01

    One of the major challenges in robotics is the improvement of inspections operations in confined and hazardous area using unmanned remote handling systems. Articulated arm are used in this case to carry some diagnostic tools for the inspection tasks. These long reach multi-link carriers should be characterized by a large workspace and reduced mass. Today, with about ten degrees of freedom and ten meters long they have reached their performance limit. Indeed, for long reach, the arm should have enough torque to carry its own weight plus the payload in cantilever mode and enough stiffness to minimize the deflection caused by the gravity. Despite the use of best materials and components, this kind of robot has reach its performance limit. Overcoming this limit needs a change in paradigm. Therefore a problem-solving, analysis and forecasting tool TRIZ (theory of inventive problem solving) is used. It leads naturally to identify the origin of the dilemma: the proper weight of the arm and so its mass under gravity. In particular, it proposes to postulate that a no-mass robot exists. An analysis of the properties of such a robot leads to the patented concept of an ultra light inflatable robot with unique and constant volume and constant diameter joints. This new object would benefit from advantages such as easy implementation, harmlessness toward its environment and so the ability to lean on it without damage. Therefore it could easily increase its range and its foreseen low-cost building would open a wide field of new applications. This thesis work, elaborates appropriate technical concepts and dimensioning methods for ultra light inflatable robots. The payload and length performances of an inflatable robot are analytically validated. Experimentations and a finite-element modeling are used for a pre-dimensioning of the joints and different modes of construction are prototyped in partnership with, specialized company in thigh-tech textile. The joints are also modeled with

  4. 46 CFR 169.239 - Hull.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull. 169.239 Section 169.239 Shipping COAST GUARD... Certification Inspections § 169.239 Hull. At each inspection for certification and periodic inspection, the vessel must be afloat and ready for the following tests and inspections of the hull structure and its...

  5. SAFIRE - a robotic inspection system for CANDU feeders

    International Nuclear Information System (INIS)

    Buckingham, R.

    2011-01-01

    The condition of primary circuit feeder pipes in CANDU reactors is relevant to the commercial viability and plant life. One known wear mechanism is external fretting between feeder pipes and adjacent services or support structures, particularly within the Upper Feeder Cabinet (UFC). Fretting leads to wall thinning which must not exceed certain agreed limits. Chafe shields have been added to protect the feeder pipes. Regular inspections are required of the chafe shields, feeder pipes and other structures that may cause feeder damage. Historically, the dose received by inspectors conducting this work has been significant. For this reason Ontario Power Generation has invested in a remotely operated robot system to conduct visual inspections within the UFC. This system, called SAFIRE for 'Snake-Arm Feeder Inspection Robot Equipment' has been deployed at Pickering during 2010 and 2011 and has been used to inspect areas that are extremely difficult to inspect with existing manual techniques. The 2011 scope of work included inspection of a total of 660 feeder pipes in three UFC quadrants, in two reactors. The full scope was completed over a one-month period in Autumn 2011 in which SAFIRE was used during 23, twelve hour shifts. This included two periods each of 72 hours of continuous operation using multiple teams of operators. SAFIRE is remote controlled delivery system for multiple cameras to record still images and video. The main system elements include a snake-arm robot mounted on a mobile vehicle. It can be controlled from up to 500m away using a fibre/copper connection. The snake-arm is 2.2m long, 25mm wide and has 18 degrees of freedom. It is designed to snake between the rows of feeder pipes to inspect feeder/hanger interfaces, both above and below the feeder cabinet catwalks. Future upgrades offer the potential to add additional tools to increase functionality. This paper describes the SAFIRE development process from inception to operational experience gained

  6. SAFIRE - a robotic inspection system for CANDU feeders

    Energy Technology Data Exchange (ETDEWEB)

    Buckingham, R. [OC Robotics, Bristol (United Kingdom)

    2011-07-01

    The condition of primary circuit feeder pipes in CANDU reactors is relevant to the commercial viability and plant life. One known wear mechanism is external fretting between feeder pipes and adjacent services or support structures, particularly within the Upper Feeder Cabinet (UFC). Fretting leads to wall thinning which must not exceed certain agreed limits. Chafe shields have been added to protect the feeder pipes. Regular inspections are required of the chafe shields, feeder pipes and other structures that may cause feeder damage. Historically, the dose received by inspectors conducting this work has been significant. For this reason Ontario Power Generation has invested in a remotely operated robot system to conduct visual inspections within the UFC. This system, called SAFIRE for 'Snake-Arm Feeder Inspection Robot Equipment' has been deployed at Pickering during 2010 and 2011 and has been used to inspect areas that are extremely difficult to inspect with existing manual techniques. The 2011 scope of work included inspection of a total of 660 feeder pipes in three UFC quadrants, in two reactors. The full scope was completed over a one-month period in Autumn 2011 in which SAFIRE was used during 23, twelve hour shifts. This included two periods each of 72 hours of continuous operation using multiple teams of operators. SAFIRE is remote controlled delivery system for multiple cameras to record still images and video. The main system elements include a snake-arm robot mounted on a mobile vehicle. It can be controlled from up to 500m away using a fibre/copper connection. The snake-arm is 2.2m long, 25mm wide and has 18 degrees of freedom. It is designed to snake between the rows of feeder pipes to inspect feeder/hanger interfaces, both above and below the feeder cabinet catwalks. Future upgrades offer the potential to add additional tools to increase functionality. This paper describes the SAFIRE development process from inception to operational experience

  7. Mini AERCam Inspection Robot for Human Space Missions

    Science.gov (United States)

    Fredrickson, Steven E.; Duran, Steve; Mitchell, Jennifer D.

    2004-01-01

    The Engineering Directorate of NASA Johnson Space Center has developed a nanosatellite-class free-flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam free flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35 pound, 14 inch AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations including automatic stationkeeping and point-to-point maneuvering. Mini AERCam is designed to fulfill the unique requirements and constraints associated with using a free flyer to perform external inspections and remote viewing of human spacecraft operations. This paper describes the application of Mini AERCam for stand-alone spacecraft inspection, as well as for roles on teams of humans and robots conducting future space exploration missions.

  8. SAFER vehicle inspection: a multimodal robotic sensing platform

    Science.gov (United States)

    Page, David L.; Fougerolle, Yohan; Koschan, Andreas F.; Gribok, Andrei; Abidi, Mongi A.; Gorsich, David J.; Gerhart, Grant R.

    2004-09-01

    The current threats to U.S. security both military and civilian have led to an increased interest in the development of technologies to safeguard national facilities such as military bases, federal buildings, nuclear power plants, and national laboratories. As a result, the Imaging, Robotics, and Intelligent Systems (IRIS) Laboratory at The University of Tennessee (UT) has established a research consortium, known as SAFER (Security Automation and Future Electromotive Robotics), to develop, test, and deploy sensing and imaging systems for unmanned ground vehicles (UGV). The targeted missions for these UGV systems include -- but are not limited to --under vehicle threat assessment, stand-off check-point inspections, scout surveillance, intruder detection, obstacle-breach situations, and render-safe scenarios. This paper presents a general overview of the SAFER project. Beyond this general overview, we further focus on a specific problem where we collect 3D range scans of under vehicle carriages. These scans require appropriate segmentation and representation algorithms to facilitate the vehicle inspection process. We discuss the theory for these algorithms and present results from applying them to actual vehicle scans.

  9. 46 CFR 176.802 - Hull.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull. 176.802 Section 176.802 Shipping COAST GUARD... CERTIFICATION Material Inspections § 176.802 Hull. (a) At each initial and subsequent inspection for... ready for inspections of the hull structure and its appurtenances, including the following: (1...

  10. Flexible mobile robot system for smart optical pipe inspection

    Science.gov (United States)

    Kampfer, Wolfram; Bartzke, Ralf; Ziehl, Wolfgang

    1998-03-01

    Damages of pipes can be inspected and graded by TV technology available on the market. Remotely controlled vehicles carry a TV-camera through pipes. Thus, depending on the experience and the capability of the operator, diagnosis failures can not be avoided. The classification of damages requires the knowledge of the exact geometrical dimensions of the damages such as width and depth of cracks, fractures and defect connections. Within the framework of a joint R&D project a sensor based pipe inspection system named RODIAS has been developed with two partners from industry and research institute. It consists of a remotely controlled mobile robot which carries intelligent sensors for on-line sewerage inspection purpose. The sensor is based on a 3D-optical sensor and a laser distance sensor. The laser distance sensor is integrated in the optical system of the camera and can measure the distance between camera and object. The angle of view can be determined from the position of the pan and tilt unit. With coordinate transformations it is possible to calculate the spatial coordinates for every point of the video image. So the geometry of an object can be described exactly. The company Optimess has developed TriScan32, a special software for pipe condition classification. The user can start complex measurements of profiles, pipe displacements or crack widths simply by pressing a push-button. The measuring results are stored together with other data like verbal damage descriptions and digitized images in a data base.

  11. Remote-Controlled Inspection Robot for Nuclear Facilities in Underwater Environment

    International Nuclear Information System (INIS)

    Yasuhiro Miwa; Syuichi Satoh; Naoya Hirose

    2002-01-01

    A remote-controlled inspection robot for nuclear facilities was developed. This is a underwater robot technology combined with inspection and flaw removal technologies. This report will describe the structure and performance of this robot. The inspection robot consists of two parts. The one is driving equipment, and the other is inspection and grinding units. It can swim in the tank, move around the tank wall, and stay on the inspection area. After that it starts inspection and flaw removal with a special grinding wheel. This technology had been developed to inspect some Radioactive Waste (RW) tanks in operating nuclear power plants. There are many RW tanks in these plants, which human workers can be hard to access because of a high level dose. This technology is too useful for inspection works of human-inaccessible areas. And also, in conventional inspection process, some worker go into the tank and set up scaffolding after full drainage and decontamination. It spends too much time for these preparations. If tank inspection and flaw removal can be performed in underwater, the outage period will be reduced. Remote-controlled process can be performed in underwater. This is the great advantage for plant owners. Since 1999 we have been applying this inspection robot to operating nuclear 11 facilities in Japan. (authors)

  12. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected. (author)

  13. A wall-crawling robot for reactor vessel inspection in advanced reactors

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and the Center for Engineering Systems Advanced Research of the Oak Ridge National Laboratory has designed a prototype wall-crawling robot to perform weld inspection in advanced nuclear reactors. Design efforts for the reactor vessel inspection robot (RVIR) concentrated on the Advanced Liquid Metal Reactor because it presents the most demanding environment in which such a robot must operate. The RVIR consists of a chassis containing two sets of suction cups that can alternately grasp the side of the vessel being inspected, providing both locomotion and steering functions. Sensors include three CCD cameras and a weld inspection device based on new shear-wave technology. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a non-radiation, room-temperature mockup of the robot work environment and shown to perform as expected

  14. A Fiber-Optic Tether for the Hull Search UUV System Documentation

    National Research Council Canada - National Science Library

    Buescher, J. G

    2006-01-01

    ...) conducting ship hull inspection missions, defines the required specifications that will allow the integration and installation of a FO tether system on UUVs with ship hull inspection capability...

  15. Mobile robot teleoperation system for plant inspection based on collecting and utilizing environment data

    International Nuclear Information System (INIS)

    Kawabata, Kuniaki; Watanabe, Nobuyasu; Asama, Hajime; Kita, Nobuyuki; Yang, Hai-quan

    2004-01-01

    This paper describes about development of a mobile robot teleoperation system for plant inspection. In our system, the robot is an agent for collecting the environment data and is also teleoperated by the operator utilizing such accumulated environment data which is displayed on the operation interface. The robot equips many sensors for detecting the state of the robot and the environment. Such redundant sensory system can be also utilized to collect the working environment data on-site while the robot is patrolling. Here, proposed system introduces the framework of collecting and utilizing environment data for adaptive plant inspection using the teleoperated robot. A view simulator is primarily aiming to facilitate evaluation of the visual sensors and algorithms and is also extended as the Environment Server, which is the core technology of the digital maintenance field for the plant inspection. In order to construct detailed seamless digital maintenance field mobile robotic technology is utilized to supply environment data to the server. The sensory system on the robot collect the environment data on-site and such collected data is uploaded to the Environment Server for compiling accurate digital environment data base. The robot operator also can utilize accumulated environment data by referring to the Environment Server. In this paper, we explain the concept of our teleoperation system based on collecting and utilizing environment data. Using developed system, inspection patrol experiments were attempted in the plant mock-up. Experimental results are shown by using an omnidirectional mobile robot with sensory system and the Environment Server. (author)

  16. Control system design for robotic underground storage tank inspection systems

    International Nuclear Information System (INIS)

    Kiebel, G.R.

    1994-09-01

    Control and data acquisition systems for robotic inspection and surveillance systems used in nuclear waste applications must be capable, versatile, and adaptable to changing conditions. The nuclear waste remediation application is dynamic -- requirements change as public policy is constantly re-examined and refocused, and as technology in this area advances. Control and data acquisition systems must adapt to these changing conditions and be able to accommodate future missions, both predictable and unexpected. This paper describes the control and data acquisition system for the Light Duty Utility Arm (LDUA) System that is being developed for remote surveillance and inspection of underground storage tanks at the Hanford Site and other US Department of Energy (DOE) sites. It is a high-performance system which has been designed for future growth. The priority mission at the Hanford site is to retrieve the waste generated by 50 years of production from its present storage and process it for final disposal. The LDUA will help to gather information about the waste and the tanks it is stored in to better plan and execute the cleanup mission

  17. A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to shipowners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

  18. A development of an automated ultrasonic TOFD inspection system using an welding line tracing robot

    International Nuclear Information System (INIS)

    Cho, Hyun; Song, Sung Jin; Lee, Kang Won; Kim, Young Jin; Woo, Jong Sik

    2006-01-01

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to ship owners because manual inspections cannot be conducted all over the welding parts. So, in this study we developed an automated ultrasonic TOFD inspection system using an welding line tracing robot. This system, controlled by an inspector at a remote field, can inspect welding parts of ship outer panel both under water and in air. In this paper we present the developed robot and ultrasonic TOFD inspection system and the inspection result.

  19. Design considerations for an intelligent mobile robot for mixed-waste inspection

    Energy Technology Data Exchange (ETDEWEB)

    Sias, F.R.; Dawson, D.M.; Schalkoff, R.J. [Clemson Univ., SC (United States). Dept. of Electrical and Computer Engineering; Byrd, J.S.; Pettus, R.O. [South Carolina Univ., Columbia, SC (United States). Dept. of Electrical and Computer Engineering

    1993-06-01

    Large quantities of low-level radioactive waste are stored in steel drums at various Department of Energy (DOE) sites in the United States. Much of the stored waste qualifies as mixed waste and falls under Environmental Protection Agency (EPA) regulations that require periodic inspection. A semi-autonomous mobile robot is being developed during Phase 1 of a DOE contract to perform the inspection task and consequently reduce the radiation exposure of inspection personnel to ALARA (as low as reasonably achievable). The nature of the inspection process, the resulting robot design requirements, and the current status of the project are the subjects of this paper.

  20. Design considerations for an intelligent mobile robot for mixed-waste inspection

    International Nuclear Information System (INIS)

    Sias, F.R.; Dawson, D.M.; Schalkoff, R.J.; Byrd, J.S.; Pettus, R.O.

    1993-01-01

    Large quantities of low-level radioactive waste are stored in steel drums at various Department of Energy (DOE) sites in the United States. Much of the stored waste qualifies as mixed waste and falls under Environmental Protection Agency (EPA) regulations that require periodic inspection. A semi-autonomous mobile robot is being developed during Phase 1 of a DOE contract to perform the inspection task and consequently reduce the radiation exposure of inspection personnel to ALARA (as low as reasonably achievable). The nature of the inspection process, the resulting robot design requirements, and the current status of the project are the subjects of this paper

  1. A remote telepresence robotic system for inspection and maintenance of a nuclear power plant

    International Nuclear Information System (INIS)

    Crane, C.D. III; Tulenko, J.S.

    1993-01-01

    Progress in reported in the areas of environmental hardening; database/world modeling; man-machine interface; development of the Advanced Liquid Metal Reactor (ALMR) maintenance inspection robot design; and Articulated Transporter/Manipulator System (ATMS) development

  2. Fault Tree Analysis for an Inspection Robot in a Nuclear Power Plant

    Science.gov (United States)

    Ferguson, Thomas A.; Lu, Lixuan

    2017-09-01

    The life extension of current nuclear reactors has led to an increasing demand on inspection and maintenance of critical reactor components that are too expensive to replace. To reduce the exposure dosage to workers, robotics have become an attractive alternative as a preventative safety tool in nuclear power plants. It is crucial to understand the reliability of these robots in order to increase the veracity and confidence of their results. This study presents the Fault Tree (FT) analysis to a coolant outlet piper snake-arm inspection robot in a nuclear power plant. Fault trees were constructed for a qualitative analysis to determine the reliability of the robot. Insight on the applicability of fault tree methods for inspection robotics in the nuclear industry is gained through this investigation.

  3. 46 CFR 115.802 - Hull.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hull. 115.802 Section 115.802 Shipping COAST GUARD....802 Hull. (a) At each initial and subsequent inspection for certification of a vessel, the owner or managing operator shall be prepared to conduct tests and have the vessel ready for inspections of the hull...

  4. A Robotic System for Inspection and Repair of Small Diameter Pipelines

    Directory of Open Access Journals (Sweden)

    S. A. Vorotnikov

    2015-01-01

    Full Text Available This paper deals with the construction and control system of miniature robotic system that is designed to move and make inspection inside small diameter pipelines. It gives an overview of ways to move a microsize robotic system inside the small diameter pipe. The proposed design consists of information module and three traction modules, including modules for fixing, linear moving and angular positioning. This paper describes the design and operation of a robotic system and its different modules. Also are shown the structure of the robot control system, the basic calculations of construct and some simulation results of the individual modules of the robot.

  5. Genetic Optimization and Simulation of a Piezoelectric Pipe-Crawling Inspection Robot

    Science.gov (United States)

    Hollinger, Geoffrey A.; Briscoe, Jeri M.

    2004-01-01

    Using the DarwinZk development software, a genetic algorithm (GA) was used to design and optimize a pipe-crawling robot for parameters such as mass, power consumption, and joint extension to further the research of the Miniature Inspection Systems Technology (MIST) team. In an attempt to improve on existing designs, a new robot was developed, the piezo robot. The final proposed design uses piezoelectric expansion actuators to move the robot with a 'chimneying' method employed by mountain climbers and greatly improves on previous designs in load bearing ability, pipe traversing specifications, and field usability. This research shows the advantages of GA assisted design in the field of robotics.

  6. Kinematic analysis and simulation of a substation inspection robot guided by magnetic sensor

    Science.gov (United States)

    Xiao, Peng; Luan, Yiqing; Wang, Haipeng; Li, Li; Li, Jianxiang

    2017-01-01

    In order to improve the performance of the magnetic navigation system used by substation inspection robot, the kinematic characteristics is analyzed based on a simplified magnetic guiding system model, and then the simulation process is executed to verify the reasonability of the whole analysis procedure. Finally, some suggestions are extracted out, which will be helpful to guide the design of the inspection robot system in the future.

  7. A Novel Method of Autonomous Inspection for Transmission Line based on Cable Inspection Robot LiDAR Data

    Directory of Open Access Journals (Sweden)

    Xinyan Qin

    2018-02-01

    Full Text Available With the growth of the national economy, there is increasing demand for electricity, which forces transmission line corridors to become structurally complicated and extend to complex environments (e.g., mountains, forests. It is a great challenge to inspect transmission line in these regions. To address these difficulties, a novel method of autonomous inspection for transmission line is proposed based on cable inspection robot (CIR LiDAR data, which mainly includes two steps: preliminary inspection and autonomous inspection. In preliminary inspection, the position and orientation system (POS data is used for original point cloud dividing, ground point filtering, and structured partition. A hierarchical classification strategy is established to identify the classes and positions of the abnormal points. In autonomous inspection, CIR can autonomously reach the specified points through inspection planning. These inspection targets are imaged with PTZ (pan, tilt, zoom cameras by coordinate transformation. The feasibility and effectiveness of the proposed method are verified by test site experiments and actual line experiments, respectively. The proposed method greatly reduces manpower and improves inspection accuracy, providing a theoretical basis for intelligent inspection of transmission lines in the future.

  8. Design and construction of an in-pipe robot for inspection and maintenance

    KAUST Repository

    Sibai, Fadi N.

    2012-12-01

    Inspection and maintenance of aging pipelines is crucial to the reliable and continued distribution of hydrocarbons. In this paper, we describe the design and construction of a robotic platform for inspection and minor maintenance of pipelines. The 7.5 kg robotic platform was demonstrated to move straight inside 12″ to 16″ diameter pipes in a forward or backward direction, and either horizontally or vertically. The experimental robotic platform has three sets of two wheels, and three driving motors. The equations governing the mechanical frame\\'s component sizes are presented and the robotic frame component dimensions derived. The paper also discusses the construction and testing of the robot. Future work includes adding sensors, controls for turning, a microcontroller board, and a robotic arm for performing maintenance tasks. © 2012 IEEE.

  9. Design and construction of an in-pipe robot for inspection and maintenance

    KAUST Repository

    Sibai, Fadi N.; Sayegh, Amer Ahmed; Al-Taie, Ihsan

    2012-01-01

    Inspection and maintenance of aging pipelines is crucial to the reliable and continued distribution of hydrocarbons. In this paper, we describe the design and construction of a robotic platform for inspection and minor maintenance of pipelines. The 7.5 kg robotic platform was demonstrated to move straight inside 12″ to 16″ diameter pipes in a forward or backward direction, and either horizontally or vertically. The experimental robotic platform has three sets of two wheels, and three driving motors. The equations governing the mechanical frame's component sizes are presented and the robotic frame component dimensions derived. The paper also discusses the construction and testing of the robot. Future work includes adding sensors, controls for turning, a microcontroller board, and a robotic arm for performing maintenance tasks. © 2012 IEEE.

  10. 46 CFR 91.25-25 - Hull equipment.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hull equipment. 91.25-25 Section 91.25-25 Shipping COAST... CERTIFICATION Inspection for Certification § 91.25-25 Hull equipment. (a) At each inspection for certification and periodic inspection, the inspectors shall conduct the following tests and inspections of hull...

  11. 46 CFR 189.25-25 - Hull equipment.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull equipment. 189.25-25 Section 189.25-25 Shipping... CERTIFICATION Inspection for Certification § 189.25-25 Hull equipment. (a) At each inspection for certification and periodic inspection the inspector shall conduct the following tests and inspections of hull...

  12. Development of Pipe Holding Mechanism for Pipe Inspection Robot Using Flexible Pneumatic Cylinder

    Directory of Open Access Journals (Sweden)

    Choi Kyujun

    2016-01-01

    Full Text Available A pipe inspection robot is useful to reduce the inspection cost. In the previous study, a novel pipe inspection robot using a flexible pneumatic cylinder that can move forward along to the pipe by changing the robot’s body naturally was proposed and tested. In this paper, to improve its mobility for a corner of a pipe, the thin pipe holding mechanism using pneumatic bellows was proposed and tested. As a result of its driving test, the holding performance of the mechanism was confirmed.

  13. Development of an amphibious robot for visual inspection of APR1400 Npp IRWST strainer

    International Nuclear Information System (INIS)

    Jang, You Hyun; Kim, Jong Seog

    2014-01-01

    An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole

  14. Development of an amphibious robot for visual inspection of APR1400 Npp IRWST strainer

    Energy Technology Data Exchange (ETDEWEB)

    Jang, You Hyun; Kim, Jong Seog [Korea Hydro Nuclear Power Central Research Institute, Daejeon (Korea, Republic of)

    2014-06-15

    An amphibious inspection robot system (hereafter AIROS) is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST) strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of installing sole

  15. DEVELOPMENT OF AN AMPHIBIOUS ROBOT FOR VISUAL INSPECTION OF APR1400 NPP IRWST STRAINER ASSEMBLY

    Directory of Open Access Journals (Sweden)

    YOU HYUN JANG

    2014-06-01

    Full Text Available An amphibious inspection robot system (hereafter AIROS is being developed to visually inspect the in-containment refueling storage water tank (hereafter IRWST strainer in APR1400 instead of a human diver. Four IRWST strainers are located in the IRWST, which is filled with boric acid water. Each strainer has 108 sub-assembly strainer fin modules that should be inspected with the VT-3 method according to Reg. guide 1.82 and the operation manual. AIROS has 6 thrusters for submarine voyage and 4 legs for walking on the top of the strainer. An inverse kinematic algorithm was implemented in the robot controller for exact walking on the top of the IRWST strainer. The IRWST strainer has several top cross braces that are extruded on the top of the strainer, which can be obstacles of walking on the strainer, to maintain the frame of the strainer. Therefore, a robot leg should arrive at the position beside the top cross brace. For this reason, we used an image processing technique to find the top cross brace in the sole camera image. The sole camera image is processed to find the existence of the top cross brace using the cross edge detection algorithm in real time. A 5-DOF robot arm that has multiple camera modules for simultaneous inspection of both sides can penetrate narrow gaps. For intuitive presentation of inspection results and for management of inspection data, inspection images are stored in the control PC with camera angles and positions to synthesize and merge the images. The synthesized images are then mapped in a 3D CAD model of the IRWST strainer with the location information. An IRWST strainer mock-up was fabricated to teach the robot arm scanning and gaiting. It is important to arrive at the designated position for inserting the robot arm into all of the gaps. Exact position control without anchor under the water is not easy. Therefore, we designed the multi leg robot for the role of anchoring and positioning. Quadruped robot design of

  16. Pipe robots for internal inspection, non-destructive testing and machining of pipelines

    International Nuclear Information System (INIS)

    Reiss, Alexander

    2016-01-01

    Inspector Systems is a specialist in manufacturing of tethered self-propelled pipe robots for internal inspection, non-destructive testing and machining of pipeline systems. Our industrial sectors, which originates from 30 year experience in the nuclear industry, are Gas and Oil (On-/Offshore, Refineries), Chemical, Petrochemical, Water etc. The pipe robots are able to get inserted through poor access points (e.g. valves) and to pass in bi-directional travelling vertical sections and numerous bends with small arc radius. The paper describes the system concept and performance of the pipe robot technology. A modular construction allows to equip the robots with different operational elements for the respective application.

  17. Transfer system development for a remote inspection robot in nuclear power plants

    International Nuclear Information System (INIS)

    Mizuno, M.; Ohnuma, M.; Hamada, K.; Mizutani, T.; Shimada, A.; Segawa, M.; Kubo, K.

    1984-01-01

    A remote operated robot system has been developed for inspection inside the primary containment vessel (PCV) of nuclear power plants. This system consists of an inspection vehicle, a monorail driving system, a signal transmission system, a power supply system and an operator console.. The system has two main features. First is that the operator can transfer the vehicle at any time from outside the PCV to inside or vice versa through a personnel airlock. The second feature is that the vehicle can be transported from one inspection route to another route at junction points. A prototype inspection robot system was fabricated on a trial basis. Running and inspection performances were confirmed utilizing actual size test apparatus

  18. Present state of inspection robot technology in nuclear power facilities. Case of fast breeder reactors

    International Nuclear Information System (INIS)

    Ara, Kuniaki

    1995-01-01

    In the maintenance works in nuclear power facilities such as checkup, inspection and repair, for the main purpose of radiation protection, remote operation technology was introduced since relatively early stage, and at present, the robots that carry out the inspection works for confirming the soundness of main equipment have been developed and put to practical use. At the time of introducing these technologies, in addition to the research and development of robots proper, the coordination with the design of plant machinery and equipment facilities as the premise of introducing robots is an important requirement. In this report, the present state of the development of remote inspection technology for fast breeder reactors is introduced, and the matters to which attention is paid in the plant design for introducing robots are explained. First, fast breeder reactors are described. The needs of robotizing and adopting remote operation in nuclear power facilities are explained, using the examples of the inspection system for a reactor vessel and the inspection system for steam generator heat transfer tubes. (K.I.)

  19. Robots take a hand in inspection, maintenance and repair

    International Nuclear Information System (INIS)

    Cruickshank, A.

    1985-01-01

    In the search for better economic performance through higher availability, utilities are beginning to look with interest at the uses of robotics. However, while some routine surveillance jobs may be amenable to existing commercial robot technology, most maintenance and repair tasks are not. A lot of work still needs to be done to develop robotic devices that can be employed effectively in the sometimes congested and inaccessible environments inside containments. (author)

  20. Robots take a hand in inspection, maintenance and repair

    Energy Technology Data Exchange (ETDEWEB)

    Cruickshank, A

    1985-04-01

    In the search for better economic performance through higher availability, utilities are beginning to look with interest at the uses of robotics. However, while some routine surveillance jobs may be amenable to existing commercial robot technology, most maintenance and repair tasks are not. A lot of work still needs to be done to develop robotic devices that can be employed effectively in the sometimes congested and inaccessible environments inside containments.

  1. Long-reach articulated robots for inspection and mini-invasive interventions in hazardous environments: Recent robotics research, qualification testing, and tool developments

    International Nuclear Information System (INIS)

    Perrot, Yann; Kammerer, Nolwenn; Measson, Yvan; Verney, Alexandre; Gargiulo, Laurent; Houry, Michael; Keller, Delphine; Piolain, Gerard

    2012-01-01

    The Interactive Robotics Laboratory of CEA LIST is in charge of the development of remote handling technologies to meet energy industry requirements. This paper reports the research and development activities in advanced robotics systems for inspection or light intervention in hazardous environments with limited access such as blind hot cells in the nuclear industry or the thermonuclear experimental Tokamak fusion reactor. A long-reach carrier robot called the articulated inspection arm (AIA) and diagnostics and tools for inspection or intervention are described. Finally experimental field tests are presented and actual challenges in modeling the robot's flexibilities are discussed. (authors)

  2. 46 CFR 71.25-25 - Hull equipment.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false Hull equipment. 71.25-25 Section 71.25-25 Shipping COAST... Inspection § 71.25-25 Hull equipment. (a) At each annual inspection, the inspector shall conduct the following tests and inspections of hull equipment: (1) All subdivision bulkheads shall be examined to...

  3. Accurately Localize and Recognize Instruments with Substation Inspection Robot in Complex Environments

    Directory of Open Access Journals (Sweden)

    Hui Song

    2014-07-01

    Full Text Available This paper designs and develops an automatic detection system in the substation environment where complex and multi-inspecting objects exist. The inspection robot is able to fix and identify the objects quickly using a visual servo control system. This paper focuses on the analysis of fast lockup and recognition method of the substation instruments based on an improved Adaboost algorithm. The robot adjusts its position to the best view point and best resolution for the instrument in real-time. The dial and pointer of the instruments are detected with an improved Hough algorithm, and the angle of the pointer is converted to the corresponding readings. The experimental results indicate that the inspection robot can fix and identify the substation instruments quickly, and has a wide range of practical applications.

  4. Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid

    Directory of Open Access Journals (Sweden)

    Bat-erdene Byambasuren

    2016-02-01

    Full Text Available Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results.

  5. Inspection Robot Based Mobile Sensing and Power Line Tracking for Smart Grid.

    Science.gov (United States)

    Byambasuren, Bat-Erdene; Kim, Donghan; Oyun-Erdene, Mandakh; Bold, Chinguun; Yura, Jargalbaatar

    2016-02-19

    Smart sensing and power line tracking is very important in a smart grid system. Illegal electricity usage can be detected by remote current measurement on overhead power lines using an inspection robot. There is a need for accurate detection methods of illegal electricity usage. Stable and correct power line tracking is a very prominent issue. In order to correctly track and make accurate measurements, the swing path of a power line should be previously fitted and predicted by a mathematical function using an inspection robot. After this, the remote inspection robot can follow the power line and measure the current. This paper presents a new power line tracking method using parabolic and circle fitting algorithms for illegal electricity detection. We demonstrate the effectiveness of the proposed tracking method by simulation and experimental results.

  6. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs.

  7. The development of robotic system for inspecting and repairing NPP primary coolant system of high-level radioactive environment

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Kim, Ki Ho; Jung, Seung Ho; Kim, Byung Soo; Hwang, Suk Yeoung; Kim, Chang Hoi; Seo, Yong Chil; Lee, Young Kwang; Lee, Yong Bum; Cho, Jai Wan; Lee, Jae Kyung; Lee, Yong Deok.

    1997-07-01

    This project aims at developing a robotic system to automatically handle inspection and maintenance of NPP safety-related facilities in high-level radioactive environment. This robotic system under development comprises two robots depending on application fields - a mobile robot and multi-functional robot. The mobile robot is designed to be used in the area of primary coolant system during the operation of NPP. This robot enables to overcome obstacles and perform specified tasks in unstructured environment. The multi-functional robot is designed for performing inspection and maintenance tasks of steam generator and nuclear reactor vessel during the overhaul periods of NPP. Nuclear facilities can be inspected and repaired all the time by use of both the mobile robot and the multi-functional robot. Human operator, by teleoperation, monitors the movements of such robots located at remote task environment via video cameras and controls those remotely generating desired commands via master manipulator. We summarize the technology relating to the application of the mobile robot to primary coolant system environment, the applicability of the mobile robot through 3D graphic simulation, the design of the mobile robot, the design of its radiation-hardened controller. We also describe the mechanical design, modeling, and control system of the multi-functional robot. Finally, we present the design of the force-reflecting master and the modeling of virtual task environment for a training simulator. (author). 47 refs., 16 tabs., 43 figs

  8. Operation of an ITER relevant inspection robot on Tore Supra tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, Laurent [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)], E-mail: laurent.gargiulo@cea.fr; Bayetti, Pascal; Bruno, Vincent; Hatchressian, Jean-Claude; Hernandez, Caroline; Houry, Michael [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Keller, Delphine [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Martins, Jean-Pierre [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France); Measson, Yvan; Perrot, Yann [CEA, LIST, Service de Robotique Interactive, F-92265 Fontenay aux Roses (France); Samaille, Frank [CEA, IRFM, F-13108 Saint-Paul-lez-Durance (France)

    2009-06-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. CEA has developed a multipurpose carrier able to realize deployments in the plasma vessel without breaking the Ultra High Vacuum (UHV) and temperature conditioning. A 6 years R and D programme was jointly conducted by CEA-LIST Interactive Robotics Unit and the Institute for Magnetic Fusion Research (IRFM) in order to demonstrate the feasibility and reliability of an in-vessel inspection robot relevant to ITER requirements. The Articulated Inspection Arm robot (AIA) is an 8-m long multilink carrier with a payload up to 10 kg operable between plasma under tokamak conditioning environment; its geometry allows a complete close inspection of Plasma Facing Components (PFCs) of the Tore Supra vessel. Different tools are being developed by CEA to be plugged at the front head of the carrier. The diagnostic presently in operation consists in a viewing system offering accurate visual inspection of PFCs. Leak detection of first wall based on helium sniffing and laser compact system for carbon co-deposited layers characterizations or treatments are also considered for demonstration. In April 2008, the AIA robot equipped with its vision diagnostic has realized a complete deployment into Tore Supra and the first closed inspection of the vessel under UHV conditions. During the upcoming experimental campaign, the same operation will be performed under relevant conditions (10{sup -6} Pa and 120 deg. C) after a conditioning phase at 200 deg. C to avoid outgassing pollution of the chamber. This paper describes the different steps of the project development, robot capabilities with the present operations conducted on Tore Supra and future requirements for making the robot a tool for tokamak routine operation.

  9. Selection of Shear Horizontal Wave Transducers for Robotic Nondestructive Inspection in Harsh Environments

    Directory of Open Access Journals (Sweden)

    Sungho Choi

    2016-12-01

    Full Text Available Harsh environments and confined spaces require that nondestructive inspections be conducted with robotic systems. Ultrasonic guided waves are well suited for robotic systems because they can provide efficient volumetric coverage when inspecting for various types of damage, including cracks and corrosion. Shear horizontal guided waves are especially well suited for robotic inspection because they are sensitive to cracks oriented perpendicular or parallel to the wave propagation direction and can be generated with electromagnetic acoustic transducers (EMATs and magnetostrictive transducers (MSTs. Both types of transducers are investigated for crack detection in a stainless steel plate. The MSTs require the robot to apply a compressive normal force that creates frictional force coupling. However, the coupling is observed to be very dependent upon surface roughness and surface debris. The EMATs are coupled through the Lorentz force and are thus noncontact, although they depend on the lift off between transducer and substrate. After comparing advantages and disadvantages of each transducer for robotic inspection the EMATs are selected for application to canisters that store used nuclear fuel.

  10. Design of the reactor vessel inspection robot for the advanced liquid metal reactor

    International Nuclear Information System (INIS)

    Spelt, P.F.; Crane, C.; Feng, L.; Abidi, M.; Tosunoglu, S.

    1994-01-01

    A consortium of four universities and Oak Ridge National Laboratory designed a prototype wall-crawling robot to perform weld inspection in an advanced nuclear reactor. The restrictions of the inspection environment presented major challenges to the team. These challenges were met in the prototype, which has been tested in a mock non-hostile environment and shown to perform as expected, as detailed in this report

  11. Trajectory-tracking control of underwater inspection robot for nuclear reactor internals using Time Delay Control

    International Nuclear Information System (INIS)

    Park, Joon-Young; Cho, Byung-Hak; Lee, Jae-Kyung

    2009-01-01

    This paper addresses the trajectory control problem of an underwater inspection robot for nuclear reactor internals. From the viewpoint of control engineering, the trajectory control of the underwater robot is a difficult task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy and hydrodynamic damping, the difference between the centres of gravity and buoyancy, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring nonlinear plant dynamics, and was proven to be highly robust against nonlinearities, uncertainties and disturbances. We confirmed its effectiveness through experiments.

  12. Effective Hull IMMR plan

    Energy Technology Data Exchange (ETDEWEB)

    Franco, Mireille

    2010-07-01

    The objective of the Hull Inspection, Maintenance and Repair Plan is to ensure the total integrity of the Floating Production Unit. To be efficient, the Monitoring has to be part of the Hull Inspection, Monitoring, Maintenance and Repair Plan (IMMR). The IMMR Plan should be developed during the design and project phases and take into account the interfaces between the different systems and teams' tasks in operation. The IMMR is multidisciplinary and form part of the hand-over to ensure an efficient and early implementation. Implementation of such a complex plan requires: - Cross-functionality: take advantage of the synergies - Boldness: break the mould and think outside the box - Listening: be attentive, be available, - Mutual support: during good and bad times. This paper presents the way Total believe the Hull IMMR Plan shall be developed, implemented and followed up. (Author)

  13. RBI - Risk Based Inspection: new technologies and methods applied to inspections of FPSO (Floating Production, Storage and Offloading Vessel) hull; IBR - Inspecao Baseada em Risco: novas tecnologias e metodos aplicados as inspecoes de casco de FPSOs

    Energy Technology Data Exchange (ETDEWEB)

    Farias, Bruno de; Figueiredo, Eduardo; Luiz, Marcio [PETROBRAS S.A., Rio de Janeiro, RJ (Brazil); Meurer, Gustavo; Duarte, Romulo; Oliveira, Thais; Krzonkalla, Viviane [ABS Consulting, Rio de Janeiro, RJ (Brazil)

    2008-07-01

    With the aging of the FPSO's, which are fundamental to the operation Offshore, better techniques and technologies must be applied to assess more accurately the actual efficiency and structural conditions of producing unit. With the emergence of new engineering techniques and equipment and methods of structural inspection, is now possible to use these new technologies to better manage risk and reliability of the structure of the FPSO, with that, the inspections and methods are more rational and efficient. The Risk-Based Inspection is the tool for monitoring operation of industrial plants with systemic use of technology in conjunction with risk analysis and reliability. His concept is applicable to various branches of industry. The companies began their implementation of oil by refineries. The group of ABS Consulting with PETROBRAS has been developing and implementing these new technologies in inspections of hulls of FPSO's. Applied successfully in the units of the Campos basin, these methods are used by the group of Risk-Based Inspection to improve the efficiency of all the steps involved with the structural integrity of the unit. (author)

  14. Analysis and optimization on in-vessel inspection robotic system for EAST

    International Nuclear Information System (INIS)

    Zhang, Weijun; Zhou, Zeyu; Yuan, Jianjun; Du, Liang; Mao, Ziming

    2015-01-01

    Since China has successfully built her first Experimental Advanced Superconducting TOKAMAK (EAST) several years ago, great interest and demand have been increasing in robotic in-vessel inspection/operation systems, by which an observation of in-vessel physical phenomenon, collection of visual information, 3D mapping and localization, even maintenance are to be possible. However, it has been raising many challenges to implement a practical and robust robotic system, due to a lot of complex constraints and expectations, e.g., high remanent working temperature (100 °C) and vacuum (10"−"3 pa) environment even in the rest interval between plasma discharge experiments, close-up and precise inspection, operation efficiency, besides a general kinematic requirement of D shape irregular vessel. In this paper we propose an upgraded robotic system with redundant degrees of freedom (DOF) manipulator combined with a binocular vision system at the tip and a virtual reality system. A comprehensive comparison and discussion are given on the necessity and main function of the binocular vision system, path planning for inspection, fast localization, inspection efficiency and success rate in time, optimization of kinematic configuration, and the possibility of underactuated mechanism. A detailed design, implementation, and experiments of the binocular vision system together with the recent development progress of the whole robotic system are reported in the later part of the paper, while, future work and expectation are described in the end.

  15. Analysis and optimization on in-vessel inspection robotic system for EAST

    Energy Technology Data Exchange (ETDEWEB)

    Zhang, Weijun, E-mail: zhangweijun@sjtu.edu.cn; Zhou, Zeyu; Yuan, Jianjun; Du, Liang; Mao, Ziming

    2015-12-15

    Since China has successfully built her first Experimental Advanced Superconducting TOKAMAK (EAST) several years ago, great interest and demand have been increasing in robotic in-vessel inspection/operation systems, by which an observation of in-vessel physical phenomenon, collection of visual information, 3D mapping and localization, even maintenance are to be possible. However, it has been raising many challenges to implement a practical and robust robotic system, due to a lot of complex constraints and expectations, e.g., high remanent working temperature (100 °C) and vacuum (10{sup −3} pa) environment even in the rest interval between plasma discharge experiments, close-up and precise inspection, operation efficiency, besides a general kinematic requirement of D shape irregular vessel. In this paper we propose an upgraded robotic system with redundant degrees of freedom (DOF) manipulator combined with a binocular vision system at the tip and a virtual reality system. A comprehensive comparison and discussion are given on the necessity and main function of the binocular vision system, path planning for inspection, fast localization, inspection efficiency and success rate in time, optimization of kinematic configuration, and the possibility of underactuated mechanism. A detailed design, implementation, and experiments of the binocular vision system together with the recent development progress of the whole robotic system are reported in the later part of the paper, while, future work and expectation are described in the end.

  16. Completion of development of robotics systems for inspecting unpiggable transmission pipelines.

    Science.gov (United States)

    2013-02-01

    This document presents the final report for a program focusing on the completion of the : research, development and demonstration effort, which was initiated in 2001, for the : development of two robotic systems for the in-line, live inspection of un...

  17. Basic maneuvers for an inspection robot for small diameter gas distribution mains

    NARCIS (Netherlands)

    Dertien, Edwin Christian; Stramigioli, Stefano

    2011-01-01

    This video shows the design of a mechanical structure of a miniature pipe inspection robot (MPR) capable of moving trough very small pipes (up to 41 mm inner diameter) as well as a wide range of diameters (63 to 125 mm outer diameter). The requirement to negotiate bends, T-joints and steep

  18. A Collaborative Approach for Surface Inspection Using Aerial Robots and Computer Vision

    Directory of Open Access Journals (Sweden)

    Martin Molina

    2018-03-01

    Full Text Available Aerial robots with cameras on board can be used in surface inspection to observe areas that are difficult to reach by other means. In this type of problem, it is desirable for aerial robots to have a high degree of autonomy. A way to provide more autonomy would be to use computer vision techniques to automatically detect anomalies on the surface. However, the performance of automated visual recognition methods is limited in uncontrolled environments, so that in practice it is not possible to perform a fully automatic inspection. This paper presents a solution for visual inspection that increases the degree of autonomy of aerial robots following a semi-automatic approach. The solution is based on human-robot collaboration in which the operator delegates tasks to the drone for exploration and visual recognition and the drone requests assistance in the presence of uncertainty. We validate this proposal with the development of an experimental robotic system using the software framework Aerostack. The paper describes technical challenges that we had to solve to develop such a system and the impact on this solution on the degree of autonomy to detect anomalies on the surface.

  19. Autonomous navigation system for mobile robots of inspection; Sistema de navegacion autonoma para robots moviles de inspeccion

    Energy Technology Data Exchange (ETDEWEB)

    Angulo S, P. [ITT, Metepec, Estado de Mexico (Mexico); Segovia de los Rios, A. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico)]. e-mail: pedrynteam@hotmail.com

    2005-07-01

    One of the goals in robotics is the human personnel's protection that work in dangerous areas or of difficult access, such it is the case of the nuclear industry where exist areas that, for their own nature, they are inaccessible for the human personnel, such as areas with high radiation level or high temperatures; it is in these cases where it is indispensable the use of an inspection system that is able to carry out a sampling of the area in order to determine if this areas can be accessible for the human personnel. In this situation it is possible to use an inspection system based on a mobile robot, of preference of autonomous navigation, for the realization of such inspection avoiding by this way the human personnel's exposure. The present work proposes a model of autonomous navigation for a mobile robot Pioneer 2-D Xe based on the algorithm of wall following using the paradigm of fuzzy logic. (Author)

  20. Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng; Lai, Yinping [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Cao, Qixin [Institute of Robotics, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-12-15

    Robot motion planning is a fundamental problem to ensure the robot executing the task without clashes, fast and accurately in a special environment. In this paper, a motion planning of a 12 DOFs remote handling robot used for inspecting the working state of the ITER-like vessel and maintaining key device components is proposed and implemented. Firstly, the forward and inverse kinematics are given by analytic method. The work space and posture space of this manipulator are both considered. Then the motion planning is divided into three stages: coming out of the cassette mover, moving along the in-vessel center line, and inspecting the D-shape section. Lastly, the result of experiments verified the performance of the motion design method. In addition, the task of unscrewing/screwing the screw demonstrated the feasibility of system in function.

  1. Some advanced concepts of mobile robotics for plant inspection and maintenance

    International Nuclear Information System (INIS)

    Halme, A.

    1994-01-01

    The paper introduces two concepts in robotics the feasibility of which are presently being studied for plant inspection/maintenance purposes. One of them is a walking machine platform which utilizes walking on discrete set of points making it possible to feed energy trough legs and/or grip on fixing points when needing strong support or climbing on walls. The other is a robot society concept in which the work is distributed among the member robots of the society. The society has an inner communication system trough which information is spread between the members. The control system of the society takes care of the task coordination and communication between the society and the user. As a special feature energy distribution within the society is considered. The concept is suggested for inspection and cleaning type of work in process equipment area and also inside processes in some cases. (author)

  2. 46 CFR 176.655 - Hull examination reports.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull examination reports. 176.655 Section 176.655... TONS) INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 176.655 Hull examination reports. (a) If you use only divers for the underwater survey portion of the Alternative Hull Examination (AHE...

  3. A Vision-Based Self-Calibration Method for Robotic Visual Inspection Systems

    Science.gov (United States)

    Yin, Shibin; Ren, Yongjie; Zhu, Jigui; Yang, Shourui; Ye, Shenghua

    2013-01-01

    A vision-based robot self-calibration method is proposed in this paper to evaluate the kinematic parameter errors of a robot using a visual sensor mounted on its end-effector. This approach could be performed in the industrial field without external, expensive apparatus or an elaborate setup. A robot Tool Center Point (TCP) is defined in the structural model of a line-structured laser sensor, and aligned to a reference point fixed in the robot workspace. A mathematical model is established to formulate the misalignment errors with kinematic parameter errors and TCP position errors. Based on the fixed point constraints, the kinematic parameter errors and TCP position errors are identified with an iterative algorithm. Compared to the conventional methods, this proposed method eliminates the need for a robot-based-frame and hand-to-eye calibrations, shortens the error propagation chain, and makes the calibration process more accurate and convenient. A validation experiment is performed on an ABB IRB2400 robot. An optimal configuration on the number and distribution of fixed points in the robot workspace is obtained based on the experimental results. Comparative experiments reveal that there is a significant improvement of the measuring accuracy of the robotic visual inspection system. PMID:24300597

  4. Development of the robot for pressurizer electric heater inspection and repairing

    International Nuclear Information System (INIS)

    Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

    1999-01-01

    In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heaters. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraints such as its weight and collision with pressurized wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code

  5. Development of the robot for pressurizer electric heater inspection and repairing

    International Nuclear Information System (INIS)

    Jung, Seung Ho; Kim, Seung Ho; Su, Yong Chil

    1998-01-01

    In this study a robot system has been developed for inspection and maintenance of the pressurizer and the rod heater. The developed robot system consists of four parts: two links, a support frame, a movable gripper, and a controller box. The robot is attached on the support frame, which is attached at the man-way flange of the pressurizer such that the robot is positioned inside pressurizer. To access arbitrary heater, at first two links horizontally rotate, and then the gripper suspended by two steel wires moves up and down by turing wire drum because the rod heaters are located about 8 meters under the robot and are arranged in two circular rows. The robot must be designed under several constraint such as its weight and collision with pressurizer wall or spray nozzle because the robot is positioned and moves inside the pressurizer. To verify that the designed robot is free from collision during installation procedure and it can access any desired rod heater, it is simulated by 3-dimensional graphic software (RobCAD). For evaluating stress of the support frame finite element analysis is performed by using the ANSYS code. For gripping the rod heater the passive self-locking mechanism is adopted, which is made up three balls and springs. Because the mechanism is very simple, it is very hardly defected than that adopted motor. (author). 11 refs., 8 tabs., 13 figs

  6. Autonomous Inspection Robot for Power Transmission Lines Maintenance While Operating on the Overhead Ground Wires

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2010-12-01

    Full Text Available This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, anchor clamps, and torsion tower. The mobile robot walks on overhead ground wires in 500KV power tower. Its ultimate purpose is to automate to inspect the defect of power transmission line. The robot with 13 motors is composed of two arms, two wheels, two claws, two wrists, etc. Each arm has 4 degree of freedom. Claws are also mounted on the arms. An embedded computer based on PC/104 is chosen as the core of control system. Visible light and thermal infrared cameras are installed to obtain the video and temperature information, and the communication system is based on wireless LAN TCP/IP protocol. A prototype robot was developed with careful considerations of mobility. The new sensor configuration is used for the claw to grasp the overhead ground wires. The bridge is installed in the torsion tower for the robot easy to cross obstacles. The new posture plan is proposed for obstacles cleaning in the torsion tower. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  7. Autonomous Inspection Robot for Power Transmission Lines Maintenance While Operating on the Overhead Ground Wires

    Directory of Open Access Journals (Sweden)

    Zheng Li

    2011-01-01

    Full Text Available This paper describes the development of a mobile robot capable of clearing such obstacles as counterweights, anchor clamps, and torsion tower. The mobile robot walks on overhead ground wires in 500KV power tower. Its ultimate purpose is to automate to inspect the defect of power transmission line. The robot with 13 motors is composed of two arms, two wheels, two claws, two wrists, etc. Each arm has 4 degree of freedom. Claws are also mounted on the arms. An embedded computer based on PC/104 is chosen as the core of control system. Visible light and thermal infrared cameras are installed to obtain the video and temperature information, and the communication system is based on wireless LAN TCP/IP protocol. A prototype robot was developed with careful considerations of mobility. The new sensor configuration is used for the claw to grasp the overhead ground wires. The bridge is installed in the torsion tower for the robot easy to cross obstacles. The new posture plan is proposed for obstacles cleaning in the torsion tower. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

  8. Conceptual design of an in-vessel inspection robotic system for Tokamak environment

    International Nuclear Information System (INIS)

    Kumar, Prabhat; Raju, Daniel; Ranjan, Vaibhav; Patel, Prateek; Dave, Jatinkumar; Naik, Mehul

    2013-01-01

    An in-vessel inspection robotic system has been conceptualized for operation inside a tokamak vessel. The robotic system is envisaged to comprise of a robotic arm, end-effector, microcontroller and wireless communication system. The end-effector is envisaged to be a special purpose camera for in-situ inspection between plasma shots. The three-link robotic arm, designed for ITER-like environment, has 4 revolute joints- 3 providing manipulation in poloidal plane and the fourth one providing limited movement in adjacent toroidal planes. This paper provides the conceptual design of the system along with kinematic analysis of robotic arm. Solutions have been derived for forward and inverse kinematic models and the Jacobian matrix for the robotic arm linkage. In forward kinematic model, given a set of joint-link parameters, the position and orientation of end-effector are determined with respect to a reference frame. In inverse kinematic model, given the specified position and orientation of end-effector with respect to a reference frame, a set of joint variables are derived that would bring the end-effector into the required posture. Using Jacobian matrix, the relation between the end-effector velocity and the joint velocity of a manipulator is obtained i.e. given the individual joint velocity; the end-effector velocity is obtained. A CAD model has been generated using CATIA to simulate the kinematic model and carry out computational stress analysis. (author)

  9. Waste tank inspection and characterization with automated UT and robotics

    International Nuclear Information System (INIS)

    McIntosh, J.B.

    1994-01-01

    Equipment and Materials Technology (E ampersand MT of the Westinghouse Savannah river Company) has developed a robotic system to deliver an ultrasonic transducer to the wall of underground storage tanks (USTs). The system is designed to meet the physical and environmental constraints of the USTs and will provide the ability to visually survey the wall, clean the surface and ultrasonically map the wall thickness

  10. Outer navigation of a inspection robot by means of feedback of global guidance

    International Nuclear Information System (INIS)

    Segovia de los R, A.; Bucio V, F.; Garduno G, M.

    2008-01-01

    The objective of this article is the presentation of an inspection system to mobile robot navigating in exteriors by means of the employment of a feedback of instantaneous guidance with respect to a global reference throughout moment of the displacement. The robot evolves obeying the commands coming from the one tele operator which indicates the diverse addresses by means of the operation console that the robot should take using for it information provided by an electronic compass. The mobile robot employee in the experimentations is a Pioneer 3-AT, which counts with a sensor series required to obtain an operation of more autonomy. The electronic compass offers geographical information coded in a format SPI, reason for which a micro controller (μC) economic of general use has been an employee for to transfer the information to the format RS-232, originally used by the Pioneer 3-AT. The orientation information received by the robot by means of their serial port RS-232 secondary it is forwarded to the computer hostess in the one which a program Java is used to generate the commands for the robot navigation control and to deploy one graphic interface user utilized to receive the order of the operator. This research is part of an ambitious project in which it is tried to count on an inspection system and monitoring of sites in which risks of high radiation levels could exist, thus a navigation systems in exteriors could be very useful. The complete system will count besides the own sensors of the robot, with certain numbers of agree sensors to the variables that are desired to monitor. The resulting values of such measurements will be visualized in real time in the graphic interface user, thanks to a bidirectional wireless communication among the station of operation and the mobile robot. (Author)

  11. Eddy Currents Inspection of CANDU Steam Generator Tubes using Zetec's ZR-1 Robot. Experience in Romania

    International Nuclear Information System (INIS)

    Scott Hower; Luiza Vladu; Adrian Nichisov; Mihai Cretu

    2006-01-01

    Full text of publication follows: The commercial operation of Unit 1 of Cernavoda NPP started on 2 December, 1996. The unit's reactor type is PHWR-CANDU 6 (electrical capacity 706 MWe), using natural uranium. The nuclear fuel is manufactured in Romania. The Cernavoda nuclear power plant has four CANDU - design steam generators that have been in service since 1996. The paper introduces the new ZR-1 Robot System for Inspection and Maintenance/Repair from Zetec that combines the newest state-of-the-art robotics technology with Zetec experience - based innovation to address the needs for inspection and repair of steam generators. The multipurpose ZR-1 can be easily installed to perform the necessary eddy current inspection and remain installed ready for follow-up maintenance and repair. It has superior technical performances and a modular three axis motion of arm that enables 100% coverage of tube sheet. Automated, repeatable, and precise positioning of tool heads ensures accurate delivery and reducing costly rework and reduces inspection time by 30%. The modular, light weight, and portable design permits easy assembly and disassembly through small openings and it reduces setup/tear down time by 30%. The first deployment of the new ZR-1 Robot was made in September 2004 at the Cernavoda NPP inspection outage. The unit's reactor type is PHWR-CANDU 6 (electrical capacity 706 MWe), using natural uranium; the nuclear fuel is manufactured in Romania. The Cernavoda nuclear power plant Unit 1 has four CANDU - design steam generators that have been in service since 1996. The paper presents also the Zetec's field experience and customer experience with this system. It describes the equipment setup in Cernavoda's steam generators mock-up, functional tests and calibration. Finally, provides details on the execution of the inspection, options for standardizing the inspection techniques and conclusions. (authors)

  12. Inspection, maintenance, and repair of large pumps and piping systems using advanced robotic tools

    International Nuclear Information System (INIS)

    Lewis, R.K.; Radigan, T.M.

    1998-01-01

    Operating and maintaining large pumps and piping systems can be an expensive proposition. Proper inspections and monitoring can reduce costs. This was difficult in the past, since detailed pump inspections could only be performed by disassembly and many portions of piping systems are buried or covered with insulation. Once these components were disassembled, a majority of the cost was already incurred. At that point, expensive part replacement usually took place whether it was needed or not. With the completion of the Pipe Walkertrademark/LIP System and the planned development of the Submersible Walkertrademark, this situation is due to change. The specifications for these inspection and maintenance robots will ensure that. Their ability to traverse both horizontal and vertical, forward and backward, make them unique tools. They will open the door for some innovative approaches to inspection and maintenance of large pumps and piping systems

  13. Mobile robot for power plant inspection and maintenance

    International Nuclear Information System (INIS)

    White, J.R.; Farnstrom, K.A.; Harvey, H.W.; Upton, R.G.; Walker, K.L.

    1988-01-01

    An all-terrain, mobile robot (called SURBOT-T) has been developed to perform remote visual, sound, and radiation surveillance within contaminated areas of nuclear power plants. The robot can be equipped with a two-armed, telerobotic manipulator system to perform remote maintenance work. The SURBOT-T vehicle has a double-articulating track base that is capable of climbing 45-deg slopes and stairs and over 16-in.-high obstacles. The overall size of SURBOT-T is 28 in. wide by 38 in. long with the front and rear tracks raised and 52 in. high with the camera lowered. With the tracks in a level position, the base provides a sturdy work platform and can ascend/descend stairs without fear of tipping over. The track can be pivoted straight down to elevate the base 14 in. and pass through water up to 24 in. deep. All motors, amplifiers, computer boards, and other electronic components are contained within a sealed housing. The color television camera, spotlight, and directional microphone are mounted on a pan/tilt, which is attached to an elevating mechanism that has 8 ft of vertical travel. An air sampler, radiation detector, and temperature/humidity probe are mounted on the vehicle. The slave manipulator arms on the vehicle can be teleoperated using master arms that are attached to a portable stand near the control console. They can also be taught to perform motions or tasks by computer control much like robot arms in the automated manufacturing industry

  14. Control system of the inspection robots group applying auctions and multi-criteria analysis for task allocation

    Science.gov (United States)

    Panfil, Wawrzyniec; Moczulski, Wojciech

    2017-10-01

    In the paper presented is a control system of a mobile robots group intended for carrying out inspection missions. The main research problem was to define such a control system in order to facilitate a cooperation of the robots resulting in realization of the committed inspection tasks. Many of the well-known control systems use auctions for tasks allocation, where a subject of an auction is a task to be allocated. It seems that in the case of missions characterized by much larger number of tasks than number of robots it will be better if robots (instead of tasks) are subjects of auctions. The second identified problem concerns the one-sided robot-to-task fitness evaluation. Simultaneous assessment of the robot-to-task fitness and task attractiveness for robot should affect positively for the overall effectiveness of the multi-robot system performance. The elaborated system allows to assign tasks to robots using various methods for evaluation of fitness between robots and tasks, and using some tasks allocation methods. There is proposed the method for multi-criteria analysis, which is composed of two assessments, i.e. robot's concurrency position for task among other robots and task's attractiveness for robot among other tasks. Furthermore, there are proposed methods for tasks allocation applying the mentioned multi-criteria analysis method. The verification of both the elaborated system and the proposed tasks' allocation methods was carried out with the help of simulated experiments. The object under test was a group of inspection mobile robots being a virtual counterpart of the real mobile-robot group.

  15. Development and application of underwater robot vehicle for close inspection of spent fuels

    Energy Technology Data Exchange (ETDEWEB)

    Yun, J. S.; Park, B. S.; Song, T. G.; Kim, S. H.; Cho, M. W.; Ahn, S. H.; Lee, J. Y.; Oh, S. C.; Oh, W. J.; Shin, K. W.; Woo, D. H.; Kim, H. G.; Park, J. S

    1999-12-01

    The research and development efforts of the underwater robotic vehicle for inspection of spent fuels are focused on the development of an robotic vehicle which inspects spent fuels in the storage pool through remotely controlled actuation. For this purpose, a self balanced vehicle actuated by propellers is designed and fabricated, which consists of a radiation resistance camera, two illuminators, a pressure transducer and a manipulator. the algorithm for autonomous navigation is developed and its performance is tested at the swimming pool. The results of the underwater vehicle shows that the vehicle can easily navigate into the arbitrary directions while maintaining its balanced position. The camera provides a clear view of working environment by using the macro and zoom functions. The camera tilt device provides a wide field of view which is enough for monitoring the operation of manipulator. Also, the manipulator can pick up the dropped objects up to 4 kgf of weight. (author)

  16. Robotized system for in-pipe inspection using pressure tolerant electronics technique

    Energy Technology Data Exchange (ETDEWEB)

    Costa, Ramon R; Hsu, Liu; Peixoto, Alessandro J; Gomes, Luiz P.C.S. [Coordenacao dos Programas de Pos-graduacao de Engenharia (UFRJ/COPPE), Rio de Janeiro, RJ (Brazil). Programa de Engenharia Eletrica. Grupo de Simulacao e Controle em Automacao e Robotica (GSCAR)]. E-mail: ramon, liu, jacoud, lpgomes@coep.ufrj.br; Reis, Ney R.S. dos [PETROBRAS S.A., Rio de Janeiro, RJ (Brazil). Centro de Pesquisas. Lab. de Robotica]. E-mail: salvireis@cenpes.petrobras.com.br

    2003-07-01

    This paper reports the development and experimental evaluation of a robotized system devised to perform two kinds of measurements inside a pipeline: the thickness of the internal wall painting layer and the internal radius. The thickness measurement allows the inspection of the painting layer quality and by measuring several radii it is possible to estimate the pipeline transversal section shape. The proposed scheme is shown to yield very satisfactory results on an actual 14'' (inches) pipeline in a real site. (author)

  17. Evaluation of effectiveness of monorail type inspection robot at nuclear power plant

    International Nuclear Information System (INIS)

    Nakagawa, Katsuei; Kimura, Motohiko; Ito, Takao; Sasaki, Keiichi.

    1991-01-01

    An inspection robot, with a TV camera, infrared camera and microphone as sensors, was tentatively installed in the main steam tunnel room of Kashiwazaki-Kariwa N.P.S. no.1 to evaluate its effectiveness in actual plant use. After a one and a half-year run, it appeared to have the ability to perform daily patrol tasks inplace of human beings. (author)

  18. 46 CFR 115.630 - The Alternative Hull Examination (AHE) Program application.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false The Alternative Hull Examination (AHE) Program... PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.630 The Alternative Hull... hull examination date to the Officer in Charge, Marine Inspection (OCMI) who will oversee the survey...

  19. Designing and implementing transparency for real time inspection of autonomous robots

    Science.gov (United States)

    Theodorou, Andreas; Wortham, Robert H.; Bryson, Joanna J.

    2017-07-01

    The EPSRC's Principles of Robotics advises the implementation of transparency in robotic systems, however research related to AI transparency is in its infancy. This paper introduces the reader of the importance of having transparent inspection of intelligent agents and provides guidance for good practice when developing such agents. By considering and expanding upon other prominent definitions found in literature, we provide a robust definition of transparency as a mechanism to expose the decision-making of a robot. The paper continues by addressing potential design decisions developers need to consider when designing and developing transparent systems. Finally, we describe our new interactive intelligence editor, designed to visualise, develop and debug real-time intelligence.

  20. Variable geometry truss manipulators: A new type of robot for site inspection and remediation

    International Nuclear Information System (INIS)

    Naccarato, F.

    1996-01-01

    A new type of robotic manipulator has been developed that offers many potential advantages over conventional robot arms for site inspection and remediation. This new robot is based on the variable geometry truss manipulator (VGTM) concept which combines the structural properties of a truss with the dexterous capabilities of a manipulator. By substituting linear actuators for some of the fixed-length members within a truss, the structure can be made to change its overall shape. By coordinating the motion of these actuators appropriately, a VGTM can perform tasks that are relevant to hazardous waste clean-up, including deployment through curved ducts, probing into crevices and obstacle avoidance. Trussarm trademark, a prototype VGTM with twelve degrees-of-freedom, has been constructed by Dynacon Enterprises Limited

  1. A Mobile Robotic System for the Inspection and Repair of SG Tubes in NPPs

    Directory of Open Access Journals (Sweden)

    Yong-Chil Seo

    2016-04-01

    Full Text Available The reliability and performance of a steam generator (SG is one of the serious concerns in the operation of pressurized water nuclear power plants. Because of high levels of radiation, robotic systems have been used to inspect and repair SG tubes. In this paper, we present a mobile robotic system that positions the inspection and repair tools while hanging down from the tube sheets where the tubes are fixed. All of the driving mechanisms of the mobile robot are actuated by electric motors to start its works, providing that the electric power is prepared without the additional need for an on-site air services. A special tube-holding mechanism with a high holding force has been developed to prevent falling from the tube sheets, even in the case of an electric power failure. We have also developed a quick installation guide device that guides the mobile robot to desired initial positions in the tube sheet exactly and quickly, which helps to reduce the radiation exposure of human workers during the installation work. This paper also provides on-site experimental results and lessons learned.

  2. ITER Articulated Inspection Arm (AIA): Geometric calibration issues of a long-reach flexible robot

    International Nuclear Information System (INIS)

    Arhur, D.; Perrot, Y.; Bidard, C.; Friconneau, J.P.; Palmer, J.D.; Semeraro, L.

    2005-01-01

    This paper is part of the Remote Handling (RH) activities for the future fusion reactor ITER. Specifically it relates to the possibility to carry out close inspection tasks of the Vacuum Vessel first wall using a long reach robot called the 'Articulated Inspection Arm' (AIA). Early studies for this device identified the need of improving the accuracy of the end-effector position in such robot structures. Therefore, the aim of this R and D program performed under the European Fusion Development Agreement (EFDA) work program is to develop a flexible parametric model with localised compliances of an AIA-like system, in order to compensate for its flexibilities. The geometric calibration is performed using a non-linear multivariable optimisation technique, which minimizes the average error between the simulated and real robot position. The optimised set of parameters, tested on the first segment of the robot, enables to divide by 3 the error on the end-effector position, in comparison to a rigid model. We expect better prediction after mechanical improvements to reduce the serious backlash in the joints. The prediction model applied to the whole arm will enable errors to be reduced from more than 1 m, in some configurations, to a final accuracy of a few centimetres

  3. Robotic system for remote inspection of underground storage tanks

    International Nuclear Information System (INIS)

    Griebenow, B.L.; Martinson, L.M.

    1990-01-01

    Westinghouse Idaho Nuclear Company, Inc. (WINCO), operates the Idaho Chemical Processing Plant (ICPP) for the US Department of Energy (DOE). WINCO's mission is to process government owned spent nuclear fuel. The process involves dissolving the fuel and extracting off uranium. The waste from this process is temporarily stored at the ICPP in underground storage tanks. The tanks were put in service between 1953 and 1966 and are operating 10 to 15 years beyond their design life. Five of the tanks will be replaced by 1998. The integrity of the remaining six tanks must be verified to continue their use until they can be replaced at a later data. In order to verify the tank integrity, a complete corrosion analysis must be performed. This analysis will require a remote visual inspection of the tank surfaces

  4. X-ray computed tomography reconstruction on non-standard trajectories for robotized inspection

    International Nuclear Information System (INIS)

    Banjak, Hussein

    2016-01-01

    The number of industrial applications of computed tomography (CT) is large and rapidly increasing with typical areas of use in the aerospace, automotive and transport industry. To support this growth of CT in the industrial field, the identified requirements concern firstly software development to improve the reconstruction algorithms and secondly the automation of the inspection process. Indeed, the use of robots gives more flexibility in the acquisition trajectory and allows the control of large and complex objects, which cannot be inspected using classical CT systems. In this context of new CT trend, a robotic platform has been installed at CEA LIST to better understand and solve specific challenges linked to the robotization of the CT process. The considered system integrates two robots that move the X-ray generator and detector. This thesis aims at achieving this new development. In particular, the objective is to develop and implement analytical and iterative reconstruction algorithms adapted to such robotized trajectories. The main focus of this thesis is concerned with helical-like scanning trajectories. We consider two main problems that could occur during acquisition process: truncated and limited-angle data. We present in this work experimental results for reconstruction on such non-standard trajectories. CIVA software is used to simulate these complex inspections and our developed algorithms are integrated as reconstruction tools. This thesis contains three parts. In the first part, we introduce the basic principles of CT and we present an overview of existing analytical and iterative algorithms for non-standard trajectories. In the second part, we modify the approximate helical FDK algorithm to deal with transversely truncated data and we propose a modified FDK algorithm adapted to reverse helical trajectory with the scan range less than 360 degrees. For iterative reconstruction, we propose two algebraic methods named SART-FISTA-TV and DART

  5. Development of a light weighted mobile robot for SG tube inspection in NPP

    International Nuclear Information System (INIS)

    Seo, Yong Chil; Jeong, Kyung Min; Shin, Hochul; Gweng, Jung Ju; Lee, Sung Uk; Jeong, Seung Ho; Choi, Young Soo; Kim, Seung Ho; Shin, Chun Sup; Park, Ki Tae

    2012-01-01

    Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water, because any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulation. In service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal SG chambers limits free access of human workers, remote manipulators are required. In South Korea, Manipulators such as the Zet ec SM series and the Westinghouse ROSA series have bee used. Such manipulators are rigidly mounted to man ways or tube sheets of SG. Confusions of the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators for covering the large working areas of tube sheets, sufficient rigidity is required and that leads to an increase of the weight. Such weight increase results in some difficulties for handling and more radiation exposure of human workers. Recently light weighed mobile robots have been introduced by Westinghouse and Zet ec. The robots can move keeping in contact with the tube sheets using devices which are commonly called cam locks. They are easier to handle and provide no confusion for the position of the inspected tubes. But when the clamping forces are loosed accidentally, they can be fall down and light repair works can be performed. This paper provides the design results for a lightweight mobile robot which is being developed in cooperation of our institutes

  6. Development of a light weighted mobile robot for SG tube inspection in NPP

    Energy Technology Data Exchange (ETDEWEB)

    Seo, Yong Chil; Jeong, Kyung Min; Shin, Hochul; Gweng, Jung Ju; Lee, Sung Uk; Jeong, Seung Ho; Choi, Young Soo; Kim, Seung Ho [KAERI, Daejeon (Korea, Republic of); Shin, Chun Sup; Park, Ki Tae [Korea Plant Service and Engineering, Busan (Korea, Republic of)

    2012-10-15

    Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water, because any leakage from tube defects could result in the release of radioactivity to the environment. Thus degradations of steam generators tubes should be monitored and inspected periodically under nuclear regulation. In service inspections of SG tubes are carried out using eddy current test (ECT) and the defected tubes are usually plugged. Because the radioactivity in the internal SG chambers limits free access of human workers, remote manipulators are required. In South Korea, Manipulators such as the Zet ec SM series and the Westinghouse ROSA series have bee used. Such manipulators are rigidly mounted to man ways or tube sheets of SG. Confusions of the inspected tubes may occur from deflection of the manipulators. To reduce the deflections of the manipulators for covering the large working areas of tube sheets, sufficient rigidity is required and that leads to an increase of the weight. Such weight increase results in some difficulties for handling and more radiation exposure of human workers. Recently light weighed mobile robots have been introduced by Westinghouse and Zet ec. The robots can move keeping in contact with the tube sheets using devices which are commonly called cam locks. They are easier to handle and provide no confusion for the position of the inspected tubes. But when the clamping forces are loosed accidentally, they can be fall down and light repair works can be performed. This paper provides the design results for a lightweight mobile robot which is being developed in cooperation of our institutes.

  7. Design and implementation of visual inspection system handed in tokamak flexible in-vessel robot

    International Nuclear Information System (INIS)

    Wang, Hesheng; Xu, Lifei; Chen, Weidong

    2016-01-01

    In-vessel viewing system (IVVS) is a fundamental tool among the remote handling systems for ITER, which is used to providing information on the status of the in-vessel components. The basic functional requirement of in-vessel visual inspection system is to perform a fast intervention with adequate optical resolution. In this paper, we present the software and hardware solution, which is designed and implemented for tokamak in-vessel viewing system that installed on end-effector of flexible in-vessel robot working under vacuum and high temperature. The characteristic of our in-vessel viewing system consists of two parts: binocular heterogeneous vision inspection tool and first wall scene emersion based augment virtuality. The former protected with water-cooled shield is designed to satisfy the basic functional requirement of visual inspection system, which has the capacity of large field of view and high-resolution for detection precision. The latter, achieved by overlaying first wall tiles images onto virtual first wall scene model in 3D virtual reality simulation system, is designed for convenient, intuitive and realistic-looking visual inspection instead of viewing the status of first wall only by real-time monitoring or off-line images sequences. We present the modular division of system, each of them in smaller detail, and go through some of the design choices according to requirements of in-vessel visual inspection task.

  8. Design and implementation of visual inspection system handed in tokamak flexible in-vessel robot

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng; Xu, Lifei [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Key Laboratory of System Control and Information Processing, Ministry of Education of China (China)

    2016-05-15

    In-vessel viewing system (IVVS) is a fundamental tool among the remote handling systems for ITER, which is used to providing information on the status of the in-vessel components. The basic functional requirement of in-vessel visual inspection system is to perform a fast intervention with adequate optical resolution. In this paper, we present the software and hardware solution, which is designed and implemented for tokamak in-vessel viewing system that installed on end-effector of flexible in-vessel robot working under vacuum and high temperature. The characteristic of our in-vessel viewing system consists of two parts: binocular heterogeneous vision inspection tool and first wall scene emersion based augment virtuality. The former protected with water-cooled shield is designed to satisfy the basic functional requirement of visual inspection system, which has the capacity of large field of view and high-resolution for detection precision. The latter, achieved by overlaying first wall tiles images onto virtual first wall scene model in 3D virtual reality simulation system, is designed for convenient, intuitive and realistic-looking visual inspection instead of viewing the status of first wall only by real-time monitoring or off-line images sequences. We present the modular division of system, each of them in smaller detail, and go through some of the design choices according to requirements of in-vessel visual inspection task.

  9. Accuracy Analysis of a Robotic Radionuclide Inspection and Mapping System for Surface Contamination

    International Nuclear Information System (INIS)

    Mauer, Georg F.; Kawa, Chris

    2008-01-01

    The mapping of localized regions of radionuclide contamination in a building can be a time consuming and costly task. Humans moving hand-held radiation detectors over the target areas are subject to fatigue. A contamination map based on manual surveys can contain significant operator-induced inaccuracies. A Fanuc M16i light industrial robot has been configured for installation on a mobile aerial work platform, such as a tall forklift. When positioned in front of a wall or floor surface, the robot can map the radiation levels over a surface area of up to 3 m by 3 m. The robot's end effector is a commercial alpha-beta radiation sensor, augmented with range and collision avoidance sensors to ensure operational safety as well as to maintain a constant gap between surface and radiation sensors. The accuracy and repeatability of the robotically conducted contamination surveys is directly influenced by the sensors and other hardware employed. This paper presents an in-depth analysis of various non-contact sensors for gap measurement, and the means to compensate for predicted systematic errors that arise during the area survey scans. The range sensor should maintain a constant gap between the radiation counter and the surface being inspected. The inspection robot scans the wall surface horizontally, moving down at predefined vertical intervals after each scan in a meandering pattern. A number of non-contact range sensors can be employed for the measurement of the gap between the robot end effector and the wall. The nominal gap width was specified as 10 mm, with variations during a single scan not to exceed ± 2 mm. Unfinished masonry or concrete walls typically exhibit irregularities, such as holes, gaps, or indentations in mortar joints. These irregularities can be sufficiently large to indicate a change of the wall contour. The responses of different sensor types to the wall irregularities vary, depending on their underlying principles of operation. We explored

  10. Decentralized real time control system of inspection robot programmed in APL

    International Nuclear Information System (INIS)

    Dupeyrat, Benoit; Liabot, M.J.; Vertut, Jean

    1979-01-01

    The running of the SUPER PHENIX vessel inspection robot meets with special practical necessities: the distance between the robot and the computer responsible for its management is important since the piloting station is outside the safety enclosure. For this reason the control and alarm functions have been separated from those of strategy and readjustment. The system described here is thus made up of: a mini-computer to manage the piloting station and a microprocessor as close as possible to the machine for control and safety duties. This arrangement has the advantage of limiting the input/output volume of the mini-computer which can thus be programmed in APL, a language particularly efficient and well suited to the problem [fr

  11. Long-Range Untethered Real-Time Live Gas Main Robotic Inspection System

    Energy Technology Data Exchange (ETDEWEB)

    Hagen Schempf; Daphne D' Zurko

    2004-10-31

    Under funding from the Department of Energy (DOE) and the Northeast Gas Association (NGA), Carnegie Mellon University (CMU) developed an untethered, wireless remote controlled inspection robot dubbed Explorer. The project entailed the design and prototyping of a wireless self-powered video-inspection robot capable of accessing live 6- and 8-inch diameter cast-iron and steel mains, while traversing turns and Ts and elbows under real-time control with live video feedback to an operator. The design is that of a segmented actively articulated and wheel-leg powered robot design, with fisheye imaging capability and self-powered battery storage and wireless real-time communication link. The prototype was functionally tested in an above ground pipe-network, in order to debug all mechanical, electrical and software subsystems, and develop the necessary deployment and retrieval, as well as obstacle-handling scripts. A pressurized natural gas test-section was used to certify it for operation in natural gas at up to 60 psig. Two subsequent live-main field-trials in both cast-iron and steel pipe, demonstrated its ability to be safely launched, operated and retrieved under real-world conditions. The system's ability to safely and repeatably exidrecover from angled and vertical launchers, traverse multi-thousand foot long pipe-sections, make T and varied-angle elbow-turns while wirelessly sending live video and handling command and control messages, was clearly demonstrated. Video-inspection was clearly shown to be a viable tool to understand the state of this critical buried infrastructure, irrespective of low- (cast-iron) or high-pressure (steel) conditions. This report covers the different aspects of specifications, requirements, design, prototyping, integration and testing and field-trialing of the Explorer platform.

  12. Robotized system for in-pipe inspection using pressure tolerant electronics technique

    Energy Technology Data Exchange (ETDEWEB)

    Costa, Ramon R.; Hsu, Liu; Peixoto, Alessandro J.; Gomes, Luiz P.C.S. [Coordenacao dos Programas de Pos-graduacao de Engenharia (UFRJ/COPPE), Rio de Janeiro, RJ (Brazil). Programa de Engenharia Eletrica. Grupo de Simulacao e Controle em Automacao e Robotica (GSCAR)]. E-mail: ramon, liu, jacoud, lpgomes@coep.ufrj.br; Reis, Ney R.S. dos [PETROBRAS S.A., Rio de Janeiro, RJ (Brazil). Centro de Pesquisas. Lab. de Robotica]. E-mail: salvireis@cenpes.petrobras.com.br

    2003-07-01

    This paper reports the development and experimental evaluation of a robotized system devised to perform two kinds of measurements inside a pipeline: the thickness of the internal wall painting layer and the internal radius. The thickness measurement allows the inspection of the painting layer quality and by measuring several radii it is possible to estimate the pipeline transversal section shape. The proposed scheme is shown to yield very satisfactory results on an actual 14'' (inches) pipeline in a real site. (author)

  13. Tracking the position of the underwater robot for nuclear reactor inspection

    International Nuclear Information System (INIS)

    Jeo, J. W.; Kim, C. H.; Seo, Y. C.; Choi, Y. S.; Kim, S. H.

    2003-01-01

    The tracking procedure of the underwater mobile robot moving and submerging ahead to nuclear reactor vessel for visual inspection, which is required to find the foreign objects such as loose parts, is described. The yellowish underwater robot body tends to present a big contrast to boron solute cold water of nuclear reactor vessel, tinged with indigo by the Cerenkov effect. In this paper, we have found and tracked the positions of underwater mobile robot using the two color information, yellow and indigo. From the horizontal and vertical profiles analysis of the color image, the blue, green, and the gray component have the inferior signal-to-noise characteristics compared to the red component. The center coordinates extraction procedures areas follows. The first step is to segment the underwater robot body to cold water with indigo background. From the RGB color components of the entire monitoring image taken with the color CCD camera, we have selected the red color component. In the selected red image, we extracted the positions of the underwater mobile robot using the following process sequences; binarization, labelling, and centroid extraction techniques. In the experiment carried out at the Youngkwang unit 5 nuclear reactor vessel, we have tracked the center positions of the underwater robot submerged near the cold leg and the hot leg way, which is fathomed to 10m deep in depth. When the position of the robot vehicle fluctuates between the previous and the current image frame due to the flickering noise and light source, installed temporally in the bottom of the reactor vessel, we adaptively adjusted the ROI window. Adding the ROI windows of the previous frame to the current frame, and then setting up the ROI window of the next image frame, we can robustly track the positions of the underwater robot and control the target position's divergence. From these facts, we can conclude that using the red component from color camera is more efficient tracking method

  14. Development of a robotic nozzle inspection with a flexible transducer array

    International Nuclear Information System (INIS)

    Dobigny, Blandine; Wattiau, Olivier; Bey, Sebastien; Vanhoye, Arnaud; Ancrenaz, Patrick; Dumas, Philippe; Fournier, Laurent

    2016-01-01

    The evaluation of the integrity of the nuclear plant components is a major issue. It is mandatory to assess the degradation due to the aging. NDE aim is to detect potential defects, resulting of thermal fatigue, and to be able to evaluate their dimensions. Ultrasonic non destructive testing has demonstrated its efficiency for detection and characterization of such defects and industrial probes offer satisfactory results in various applications. However, the complex geometry of some components (nozzle,..) severely limits the inspection performances. Indeed, the use of conventional probes is restricted to regular surfaces. Flexible transducer arrays technology provides an attractive solution in ultrasonic NDT for the inspection of complex geometry components. Its ability to conform to the wavy surface of the component and to ensure a good coupling when the limits of conventional probes are reached, makes it suitable for the characterization of a defect detected in a nozzle. To develop and implement a flexible probe inspection of a nozzle weld, several skills are needed: especially ultrasonic, robotic, simulation skills. Moreover, an innovative tool dedicated to delay laws and probe position calculation is used to optimize the performance of such phased array probes. In the framework of a partnership, EDF, the CEA LIST and AREVA have developed a robotic inspection tool able to be operate on nuclear site, in order to characterize defects located in the inner radius of a nozzle with a flexible transducer array. The article describes the use of the new tools developed for the nozzle case. It also presents acquisition results and the contribution of this technology of potential defect characterization. These results are compared to classical phased-array methods.

  15. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    International Nuclear Information System (INIS)

    Gargiulo, L.; Cordier, J.J.; Friconneau, J.P.; Grisolia, C.; Palmer, J.D.; Perrot, Y.; Samaille, F.

    2007-01-01

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel remote handling inspection system using a long reach, limited payload carrier. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development will allow close inspection of the Tore Supra plasma facing components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be simulated on Tore Supra through the deuterium inventory under long-time plasma discharges. The in situ leakage localisation of a damaged plasma facing component is also one of the major ITER maintenance challenges that could use remote handling inspection tools

  16. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    Energy Technology Data Exchange (ETDEWEB)

    Gargiulo, L. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France)], E-mail: laurent.gargiulo@cea.fr; Cordier, J.J. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France); Friconneau, J.P. [CEA-LIST Robotics and Interactive Systems Unit, BP6 F-92265 Fontenay aux Roses Cedex (France); Grisolia, C. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France); Palmer, J.D. [EFDA CSU, Max-Planck-Institut fuer Plasma Physik Boltzmannstr. 2, D-85748 Garching (Germany); Perrot, Y. [CEA-LIST Robotics and Interactive Systems Unit, BP6 F-92265 Fontenay aux Roses Cedex (France); Samaille, F. [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA/Cadarache, F-13108 Saint Paul Lez Durance Cedex (France)

    2007-10-15

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel remote handling inspection system using a long reach, limited payload carrier. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development will allow close inspection of the Tore Supra plasma facing components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be simulated on Tore Supra through the deuterium inventory under long-time plasma discharges. The in situ leakage localisation of a damaged plasma facing component is also one of the major ITER maintenance challenges that could use remote handling inspection tools.

  17. Towards operations on Tore Supra of an ITER relevant inspection robot and associated processes

    International Nuclear Information System (INIS)

    Laurent Gargiulo, L.; Cordier, J.-J.; Samaille, F.; Grisolia, Ch.; Perrot, Y.; Olivier, D.; Friconneau, J.-P.; Palmer, J.

    2006-01-01

    The aim of the project is to demonstrate on Tore Supra the reliability of a multi-purpose in-vessel Remote Handling inspection system using a long reach, limited payload carrier. This project called AIA (Articulated Inspection Arm) is currently being developed at CEA under a European EFDA work program. The paper describes the detailed design, the manufacturing processes and the results of the first module test campaign in the CEA Tore Supra ME60 facility, at representative vacuum, temperature and nominal loading conditions. The second part of this work that is reported in the paper, concerns the description of the whole integration of the device on the Tore Supra tokamak that is foreseen to be operated on Tore Supra early 2007. The deployer system and the 10 m long storage vacuum vessel are presented. The robot prototype is fully representative of the deployment carrier system that could be required on ITER. The demonstration on Tore Supra will help in the understanding of operation issues that could occur in the tokamak vacuum vessel equipped of actively cooled components. The viewing process that is currently under development is presented in the paper. It will allow close inspection of the Tore Supra Plasma Facing Components that are representative of the ITER divertor targets in terms of confined environment and identification of possible tiles failure of CFC carbon tiles. Such viewing process could be used on ITER during the early stage of operation under a limited radiation level. The AIA technology is also showing promising potential for generic application in alternative systems for ITER. The feasibility study for viewing inspection of the beam line components in the neutral beam test facility is presented. One of the other potential inspection processes that is foreseen to be tested using the AIA carrier in Tore Supra is the laser ablation system of the CFC armour. It could be fully relevant for the ITER wall detritiation issues. Such process can be

  18. Design of an Infrared Imaging System for Robotic Inspection of Gas Leaks in Industrial Environments

    Directory of Open Access Journals (Sweden)

    Ramon Barber

    2015-03-01

    Full Text Available Gas detection can become a critical task in dangerous environments that involve hazardous or contaminant gases, and the use of imaging sensors provides an important tool for leakage location. This paper presents a new design for remote sensing of gas leaks based on infrared (IR imaging techniques. The inspection system uses an uncooled microbolometer detector, operating over a wide spectral bandwidth, that features both low size and low power consumption. This equipment is boarded on a robotic platform, so that wide objects or areas can be scanned. The detection principle is based on the use of active imaging techniques, where the use of external IR illumination enhances the detection limit and allows the proposed system to operate in most cases independently from environmental conditions, unlike passive commercial approaches. To illustrate this concept, a fully radiometric description of the detection problem has been developed; CO2 detection has been demonstrated; and simulations of typical gas detection scenarios have been performed, showing that typical industrial leaks of CH4 are well within the detection limits. The mobile platform where the gas sensing system is going to be implemented is a robot called TurtleBot. The control of the mobile base and of the inspection device is integrated in ROS architecture. The exploration system is based on the technique of Simultaneous Localization and Mapping (SLAM that makes it possible to locate the gas leak in the map.

  19. AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

    Science.gov (United States)

    Fredrickson, Steven E.; Duran, Steve G.; Braun, Angela N.; Straube, Timothy M.; Mitchell, Jennifer D.

    2006-01-01

    The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits

  20. Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

    International Nuclear Information System (INIS)

    Peng Xuebing; Yuan Jianjun; Zhang Weijun; Yang Yang; Song Yuntao

    2012-01-01

    Highlights: ► A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. ► The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4–6. ► The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. ► The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

  1. Kinematic and dynamic analysis of a serial-link robot for inspection process in EAST vacuum vessel

    Energy Technology Data Exchange (ETDEWEB)

    Peng Xuebing, E-mail: pengxb@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China); Yuan Jianjun; Zhang Weijun [Research Institute of Robotics, Mechanical Engineering School, Shanghai Jiao Tong University, No.800, Dong Chuan Road, Min Hang District, Shanghai 200240 (China); Yang Yang; Song Yuntao [Institute of Plasma Physics, Chinese Academy of Sciences, P.O. Box 1126, Shushanhu Road 350, Hefei, Anhui 230031 (China)

    2012-08-15

    Highlights: Black-Right-Pointing-Pointer A serial-link robot FIVIR is proposed for inspection of EAST PFCs between plasma shots. Black-Right-Pointing-Pointer The FIVIR is a function modular design and has specially designed curvilinear mechanism for axes 4-6. Black-Right-Pointing-Pointer The D-H coordinate systems, forward and inverse kinematic model can be easily established and solved for the FIVIR. Black-Right-Pointing-Pointer The FIVIR can fulfill the required workspace and has a good dynamic performance in the inspection process. - Abstract: The present paper introduces a serial-link robot which is named flexible in-vessel inspection robot (FIVIR) and developed for Experimental Advanced Superconducting Tokamak (EAST). The task of the robot is to carry process tools, such as viewing camera and leakage detector, to inspect the components installed inside of EAST vacuum vessel. The FIVIR can help to understand the physical phenomena which could be happened in the vacuum vessel during plasma operation and could be one part of EAST remote handling system if needed. The FIVIR was designed with the consideration of having easy control and a good mechanics property which drives it resulted in function modular design. The workspace simulation and kinematic analysis are given in this paper. The dynamic behavior of the FIVIR is studied by multi-body system simulation using ADAMS software. The study result shows the FIVIR has ascendant kinematic and dynamic performance and can fulfill the design requirement for inspection process in EAST vacuum vessel.

  2. 46 CFR 71.50-1 - Definitions relating to hull examinations.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false Definitions relating to hull examinations. 71.50-1... INSPECTION AND CERTIFICATION Drydocking § 71.50-1 Definitions relating to hull examinations. As used in this part— Adequate hull protection system means a method of protecting the vessel's hull from corrosion. It...

  3. Development of an inspection robot under iter relevant vacuum and temperature conditions

    Energy Technology Data Exchange (ETDEWEB)

    Hatchressian, J-C; Bruno, V; Gargiulo, L; Bayetti, P; Cordier, J-J; Samaille, F [Association Euratom-CEA, DSM/Departement de Recherche sur la Fusion Controlee, CEA Cadarache, F-13108 Saint Paul-Lez-Durance Cedex (France); Keller, D; Perrot, Y; Friconneau, J-P [CEA, LIST, Service de Robotique Interactive, 18 route du Panorama, BP6, Fontenay aux Roses F-92265 France (France); Palmer, J D [EFDA-CSU Max-Planck-Institut fuer Plasma Physik Boltzmannstr.2, D-85748 Garching Germany (Germany)

    2008-03-15

    Robotic operations are one of the major maintenance challenges for ITER and future fusion reactors. In vessel inspection operations without loss of conditioning could be very mandatory. Within this framework, the aim of the Articulated Inspection Arm (AIA) project is to demonstrate the feasibility of a multi-purpose in-vessel Remote Handling inspection system. It is a long reach, composed of 5 segments with in all 8 degrees of freedom, limited payload carrier (up to 10kg) and a total range of 8m. The project is currently developed by the CEA within the European work program. Some tests will validate chosen concepts for operations under ITER relevant vacuum and temperature conditions. The presence of magnetic fields, radiation and neutron beams will not be considered. This paper deals with the choices of the materials to minimize the out-gassing under vacuum and high temperature during conditioning, the implantation of the electronics which are enclosed in boxes with special gaskets, the design of the first embedded process which is a viewing system.

  4. Outer navigation of a inspection robot by means of feedback of global guidance; Navegacion exterior de un robot de inspeccion mediante retroalimentacion de la orientacion global

    Energy Technology Data Exchange (ETDEWEB)

    Segovia de los R, A.; Bucio V, F. [ININ, 52750 La Marquesa, Estado de Mexico (Mexico); Garduno G, M. [Instituto Tecnologico de Toluca, Av. Instituto Tecnologico s/n, Metepec, Estado de Mexico 52140 (Mexico)]. e-mail: asegovia@nuclear.inin.mx

    2008-07-01

    The objective of this article is the presentation of an inspection system to mobile robot navigating in exteriors by means of the employment of a feedback of instantaneous guidance with respect to a global reference throughout moment of the displacement. The robot evolves obeying the commands coming from the one tele operator which indicates the diverse addresses by means of the operation console that the robot should take using for it information provided by an electronic compass. The mobile robot employee in the experimentations is a Pioneer 3-AT, which counts with a sensor series required to obtain an operation of more autonomy. The electronic compass offers geographical information coded in a format SPI, reason for which a micro controller ({mu}C) economic of general use has been an employee for to transfer the information to the format RS-232, originally used by the Pioneer 3-AT. The orientation information received by the robot by means of their serial port RS-232 secondary it is forwarded to the computer hostess in the one which a program Java is used to generate the commands for the robot navigation control and to deploy one graphic interface user utilized to receive the order of the operator. This research is part of an ambitious project in which it is tried to count on an inspection system and monitoring of sites in which risks of high radiation levels could exist, thus a navigation systems in exteriors could be very useful. The complete system will count besides the own sensors of the robot, with certain numbers of agree sensors to the variables that are desired to monitor. The resulting values of such measurements will be visualized in real time in the graphic interface user, thanks to a bidirectional wireless communication among the station of operation and the mobile robot. (Author)

  5. Hand-eye coordination of a robot for the automatic inspection of steam-generator tubes in nuclear power plants

    International Nuclear Information System (INIS)

    Choi, D.H.; Song, Y.C.; Kim, J.H.; Kim, J.G.

    2004-01-01

    The inspection of steam-generator tubes in nuclear power plants needs to collect test signals in a highly radiated region that is not accessible by humans. In general, a robot equipped with a camera and a test probe is used to handle such a dangerous environment. The robot moves the probe to right below a tube to be inspected and then the probe is inserted into the tube. The inspection signals are acquired while the probe is pulling back. Currently, an operator in a control room controls all the process remotely. To make a fully automatic inspection system, first of all, a control mechanism is needed to position the probe to the proper location. This is so called a hand-eye coordination problem. In this paper, a hand-eye coordination method for a robot has been presented. The proposed method consists of the two consecutive control modes: rough positioning and fine-tuning. The rough positioning controller tries to position its probe near a target place using kinematics information and the known environments, and then the fine-tuning controller tries to adjust the probe to the target using the image acquired by the camera attached to the robot. The usefulness of the proposed method has been tested and verified through experiments. (orig.)

  6. Robust controller with adaptation within the boundary layer: application to nuclear underwater inspection robot

    International Nuclear Information System (INIS)

    Park, Gee Yong; Yoon, Ji Sup; Hong, Dong Hee; Jeong, Jae Hoo

    2002-01-01

    In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improve control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer. Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement

  7. Alpha-Concave Hull, a Generalization of Convex Hull

    OpenAIRE

    Asaeedi, Saeed; Didehvar, Farzad; Mohades, Ali

    2013-01-01

    Bounding hull, such as convex hull, concave hull, alpha shapes etc. has vast applications in different areas especially in computational geometry. Alpha shape and concave hull are generalizations of convex hull. Unlike the convex hull, they construct non-convex enclosure on a set of points. In this paper, we introduce another generalization of convex hull, named alpha-concave hull, and compare this concept with convex hull and alpha shape. We show that the alpha-concave hull is also a general...

  8. Eddy Currents Inspection of CANDU Steam Generator Tubes using Zetec's ZR-1 Robot. Experience in Romania

    Energy Technology Data Exchange (ETDEWEB)

    Scott Hower [Zetec Inc. (Romania); Luiza Vladu; Adrian Nichisov; Mihai Cretu [COMPCONTROL ING. (Romania)

    2006-07-01

    Full text of publication follows: The commercial operation of Unit 1 of Cernavoda NPP started on 2 December, 1996. The unit's reactor type is PHWR-CANDU 6 (electrical capacity 706 MWe), using natural uranium. The nuclear fuel is manufactured in Romania. The Cernavoda nuclear power plant has four CANDU - design steam generators that have been in service since 1996. The paper introduces the new ZR-1 Robot System for Inspection and Maintenance/Repair from Zetec that combines the newest state-of-the-art robotics technology with Zetec experience - based innovation to address the needs for inspection and repair of steam generators. The multipurpose ZR-1 can be easily installed to perform the necessary eddy current inspection and remain installed ready for follow-up maintenance and repair. It has superior technical performances and a modular three axis motion of arm that enables 100% coverage of tube sheet. Automated, repeatable, and precise positioning of tool heads ensures accurate delivery and reducing costly rework and reduces inspection time by 30%. The modular, light weight, and portable design permits easy assembly and disassembly through small openings and it reduces setup/tear down time by 30%. The first deployment of the new ZR-1 Robot was made in September 2004 at the Cernavoda NPP inspection outage. The unit's reactor type is PHWR-CANDU 6 (electrical capacity 706 MWe), using natural uranium; the nuclear fuel is manufactured in Romania. The Cernavoda nuclear power plant Unit 1 has four CANDU - design steam generators that have been in service since 1996. The paper presents also the Zetec's field experience and customer experience with this system. It describes the equipment setup in Cernavoda's steam generators mock-up, functional tests and calibration. Finally, provides details on the execution of the inspection, options for standardizing the inspection techniques and conclusions. (authors)

  9. Design of a micro-robot with an electro-pneumatic servo-actuator for the intra-pipe inspection; Conception d'un micro robot a actionneur asservi electropneumatique pour l'inspection intratubulaire

    Energy Technology Data Exchange (ETDEWEB)

    Anthierens, C

    1999-12-01

    Micro Electro Mechanical Systems (MEMS) are integrated in many current products and are not only the concern of military defence or medicine. Nowadays micro actuators are diversified by using different kind of energy, and creating different motions. Several applications require small systems to inspect confined and hostile places. Vapour generators in nuclear plants are composed with 3000 to 5000 vertical pipes of 17 mm diameter. These pipes endure high mechanical constraints and have to be inspected to detect eventual cracks. Our study is based on the design, modelling and implementation of a micro-robot enable to move up and carry sensors in these pipes. It moves as an inchworm and then is composed by 2 blocking modules that brace the robot on the pipe sides, and one stretching module that creates a step. This actuator is pneumatic and composed by metal bellows. By this original design, the micro-robot have a good power to volume ratio and thus it can carry a load higher than 1 kg. Its good positioning accuracy is proved with a 90 mm course where the error of positioning is less than 60{mu}m. A PID control law is used to control the robot but state feed back control law is planed. (author)

  10. Design of a micro-robot with an electro-pneumatic servo-actuator for the intra-pipe inspection; Conception d'un micro robot a actionneur asservi electropneumatique pour l'inspection intratubulaire

    Energy Technology Data Exchange (ETDEWEB)

    Anthierens, C

    1999-12-01

    Micro Electro Mechanical Systems (MEMS) are integrated in many current products and are not only the concern of military defence or medicine. Nowadays micro actuators are diversified by using different kind of energy, and creating different motions. Several applications require small systems to inspect confined and hostile places. Vapour generators in nuclear plants are composed with 3000 to 5000 vertical pipes of 17 mm diameter. These pipes endure high mechanical constraints and have to be inspected to detect eventual cracks. Our study is based on the design, modelling and implementation of a micro-robot enable to move up and carry sensors in these pipes. It moves as an inchworm and then is composed by 2 blocking modules that brace the robot on the pipe sides, and one stretching module that creates a step. This actuator is pneumatic and composed by metal bellows. By this original design, the micro-robot have a good power to volume ratio and thus it can carry a load higher than 1 kg. Its good positioning accuracy is proved with a 90 mm course where the error of positioning is less than 60{mu}m. A PID control law is used to control the robot but state feed back control law is planed. (author)

  11. Development and Evaluation of Compact Robot Imitating a Hermit Crab for Inspecting the Outer Surface of Pipes

    Directory of Open Access Journals (Sweden)

    Naoto Imajo

    2015-01-01

    Full Text Available Terrestrial hermit crabs which are a type of hermit crabs live on land, whereas typical hermit crabs inhabit the sea. They have an ability of climbing a tree vertically. Their claws allow them to hang on the tree. In this study, an outer-pipe inspection robot was developed. Its locomotion mechanism was developed in imitation of the terrestrial hermit crab’s claws. It is equipped with two rimless wheels. Each of the spokes is tipped with a neodymium magnet, which allows the robot to remain attached to even a vertical steel pipe. Moreover, the robot has a mechanism for adjusting the camber angle of the right and left wheels, allowing it to tightly grip pipes with different diameters. Experiments were conducted to check the performance of the robot using steel pipes with different diameters, placed horizontally, vertically, or obliquely. The robot attempted to move a certain distance along a pipe, and its success rate was measured. It was found that the robot could successfully travel along pipes with vertical orientations, although it sometimes fell from oblique or horizontal pipes. The most likely reason for this is identified and discussed. Certain results were obtained in laboratory. Further experiments in actual environment are required.

  12. Development of a surveillance robot for dimensional and visual inspection of fuel and reflector elements from the Fort St. Vrain HTGR

    International Nuclear Information System (INIS)

    Wallroth, C.F.; Marsh, N.I.; Miller, C.M.; Saurwein, J.J.; Smith, T.L.

    1979-11-01

    A robotic device has been developed for dimensional and visual inspection of irradiated HTGR core components. The robot consists of a rotary table and a two-finger probe, driven by stepping motors, and four remotely controlled television cameras. Automated operation is accomplished via minicomputer control. A total of 51 irradiated fuel and reflector elements were inspected at a fraction of the time and cost required for conventional methods

  13. A fast position estimation method for a control rod guide tube inspection robot with a single camera

    International Nuclear Information System (INIS)

    Lee, Jae C.; Seop, Jun H.; Choi, Yu R.; Kim, Jae H.

    2004-01-01

    One of the problems in the inspection of control rod guide tubes using a mobile robot is accurate estimation of the robot's position. The problem is usually explained by the question 'Where am I?'. We can solve this question by a method called dead reckoning using odometers. But it has some inherent drawbacks such that the position error grows without bound unless an independent reference is used periodically to reduce the errors. In this paper, we presented one method to overcome this drawback by using a vision sensor. Our method is based on the classical Lucas Kanade algorithm for on image tracking. In this algorithm, an optical flow must be calculated at every image frame, thus it has intensive computing load. In order to handle large motions, it is preferable to use a large integration window. But a small integration window is more preferable to keep the details contained in the images. We used the robot's movement information obtained from the dead reckoning as an input parameter for the feature tracking algorithm in order to restrict the position of an integration window. By means of this method, we could reduce the size of an integration window without any loss of its ability to handle large motions and could avoid the trade off in the accuracy. And we could estimate the position of our robot relatively fast without on intensive computing time and the inherent drawbacks mentioned above. We studied this algorithm for applying it to the control rod guide tubes inspection robot and tried an inspection without on operator's intervention

  14. The conceptual design of the sensing system for patrolling and inspecting a nuclear facility by the intelligent robot

    International Nuclear Information System (INIS)

    Ebihara, Ken-ichi

    1993-11-01

    Supposing that an intelligent robot, instead of a human worker, patrols and inspects nuclear facilities, it is indispensable for such robot to be capable of moving with avoiding obstacles and recognizing various abnormal conditions, carrying out some ordered works based on information from sensors mounted on the robot. The present robots being practically used in nuclear facilities, however, have the limited capability such as identifying a few specific abnormal conditions using data detected by specific sensors on them. Hence, a conceptual design of a sensor-fusion-based system, which is named 'sensing system', has been performed to collect various kinds of information required for patrol and inspection. This sensing system combines a visual sensor, which consists of a monocular camera and a range finder by the active stereopsis method, an olfactory, acoustic and dose sensors. This report describes the hardware configuration and the software function for processing sensed data. An idea of sensor fusion and the preliminary consideration in respect of applying the neural network to image data processing are also described. (author)

  15. Design of a micro-robot with an electro-pneumatic servo-actuator for the intra-pipe inspection

    International Nuclear Information System (INIS)

    Anthierens, C.

    1999-12-01

    Micro Electro Mechanical Systems (MEMS) are integrated in many current products and are not only the concern of military defence or medicine. Nowadays micro actuators are diversified by using different kind of energy, and creating different motions. Several applications require small systems to inspect confined and hostile places. Vapour generators in nuclear plants are composed with 3000 to 5000 vertical pipes of 17 mm diameter. These pipes endure high mechanical constraints and have to be inspected to detect eventual cracks. Our study is based on the design, modelling and implementation of a micro-robot enable to move up and carry sensors in these pipes. It moves as an inchworm and then is composed by 2 blocking modules that brace the robot on the pipe sides, and one stretching module that creates a step. This actuator is pneumatic and composed by metal bellows. By this original design, the micro-robot have a good power to volume ratio and thus it can carry a load higher than 1 kg. Its good positioning accuracy is proved with a 90 mm course where the error of positioning is less than 60μm. A PID control law is used to control the robot but state feed back control law is planed. (author)

  16. Autonomy and manual operation in a small robotic system for under-vehicle inspections at security checkpoints

    Science.gov (United States)

    Smuda, William; Muench, Paul L.; Gerhart, Grant R.; Moore, Kevin L.

    2002-07-01

    Unmanned ground vehicle (UGV) technology can be used in a number of ways to assist in counter-terrorism activities. In addition to the conventional uses of tele-operated robots for unexploded ordinance handling and disposal, water cannons and other crowd control devices, robots can also be employed for a host of terrorism deterrence and detection applications. In previous research USU developed a completely autonomous prototype robot for performing under- vehicle inspections in parking areas (ODIS). Testing of this prototype and discussions with the user community indicated that neither the technology nor the users are ready for complete autonomy. In this paper we present a robotic system based on ODIS that balances the users' desire/need for tele- operation with a limited level of autonomy that enhances the performance of the robot. The system can be used by both civilian law enforcement and military police to replace the traditional mirror on a stick system of looking under cars for bombs and contraband.

  17. 46 CFR 115.660 - Continued participation in the Alternative Hull Examination (AHE) Program.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Continued participation in the Alternative Hull... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.660 Continued participation in the Alternative Hull Examination (AHE) Program. (a) To continue to participate in...

  18. 46 CFR 176.660 - Continued participation in the Alternative Hull Examination (AHE) Program.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Continued participation in the Alternative Hull... (CONTINUED) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 176.660 Continued participation in the Alternative Hull Examination (AHE) Program. (a) To...

  19. 46 CFR 31.10-20 - Definitions relating to hull examinations-T/B ALL.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 1 2010-10-01 2010-10-01 false Definitions relating to hull examinations-T/B ALL. 31.10... CERTIFICATION Inspections § 31.10-20 Definitions relating to hull examinations—T/B ALL. As used in this part— (a... examination of all accessible parts of the vessel's underwater body and all through-hull fittings. (b...

  20. 46 CFR 176.630 - The Alternative Hull Examination (AHE) Program application.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false The Alternative Hull Examination (AHE) Program... PASSENGER VESSELS (UNDER 100 GROSS TONS) INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 176.630 The Alternative Hull Examination (AHE) Program application. If your vessel meets the eligibility...

  1. 46 CFR 91.40-1 - Definitions relating to hull examinations.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Definitions relating to hull examinations. 91.40-1... VESSELS INSPECTION AND CERTIFICATION Drydocking § 91.40-1 Definitions relating to hull examinations. As...-hull fittings. (b) Internal structural examination means an examination of the vessel while afloat or...

  2. 46 CFR 71.50-25 - Alternative Hull Examination (AHE) procedure.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) procedure. 71.50-25... INSPECTION AND CERTIFICATION Drydocking § 71.50-25 Alternative Hull Examination (AHE) procedure. (a) To complete the underwater survey you must— (1) Perform a general examination of the underwater hull plating...

  3. 46 CFR 176.650 - Alternative Hull Examination Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Alternative Hull Examination Program options: Divers or...) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 176.650 Alternative Hull Examination Program options: Divers or underwater ROV. To complete the...

  4. 46 CFR 71.50-19 - The Alternative Hull Examination (AHE) Program application.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false The Alternative Hull Examination (AHE) Program...) PASSENGER VESSELS INSPECTION AND CERTIFICATION Drydocking § 71.50-19 The Alternative Hull Examination (AHE... apply to the AHE Program. You must submit an application at least 90 days before the requested hull...

  5. 46 CFR 189.40-1 - Definitions relating to hull examinations.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Definitions relating to hull examinations. 189.40-1... VESSELS INSPECTION AND CERTIFICATION Drydocking § 189.40-1 Definitions relating to hull examinations. As...-hull fittings. (b) Internal structural examination means an examination of the vessel while afloat or...

  6. 46 CFR 115.650 - Alternative Hull Examination (AHE) Program options: Divers or underwater ROV.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Program options... MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.650 Alternative Hull Examination (AHE) Program options: Divers or underwater ROV. To complete your underwater...

  7. 46 CFR 167.15-27 - Definitions relating to hull examinations.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Definitions relating to hull examinations. 167.15-27... PUBLIC NAUTICAL SCHOOL SHIPS Inspections § 167.15-27 Definitions relating to hull examinations. As used... slipway for an examination of all accessible parts of the vessel's underwater body and all through-hull...

  8. 7 CFR 319.8-9 - Hull fiber and gin trash.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 5 2010-01-01 2010-01-01 false Hull fiber and gin trash. 319.8-9 Section 319.8-9 Agriculture Regulations of the Department of Agriculture (Continued) ANIMAL AND PLANT HEALTH INSPECTION... Importation and Entry of Cotton and Covers § 319.8-9 Hull fiber and gin trash. (a) Entry of hull fiber will be...

  9. Robotics

    Science.gov (United States)

    Popov, E. P.; Iurevich, E. I.

    The history and the current status of robotics are reviewed, as are the design, operation, and principal applications of industrial robots. Attention is given to programmable robots, robots with adaptive control and elements of artificial intelligence, and remotely controlled robots. The applications of robots discussed include mechanical engineering, cargo handling during transportation and storage, mining, and metallurgy. The future prospects of robotics are briefly outlined.

  10. Mechanical Implementation and Simulation of MoboLab, A Mobile Robot for Inspection of Power Transmission Lines

    Directory of Open Access Journals (Sweden)

    Mahmud Saadat Foumani

    2008-11-01

    Full Text Available This paper describes the first phase in development of a mobile robot that can navigate aerial power transmission lines completely unattended by human operator. Its ultimate purpose is to automate inspection of power transmission lines and their equipments. The authors have developed a scaled functional model of such a mobile robot with a preliminary simple computer based on-off controller. MoboLab (Mobile Laboratory navigates a power transmission line between two strain towers. It can maneuver over obstructions created by line equipments such as insulators, warning spheres, dampers, and spacer dampers. It can also easily negotiate the towers by its three flexible arms. MoboLab has an internal main screw which enables the robot to move itself or its two front and rear arms independently through changing gripped points. When the front arm gets close to an obstacle, the arm detaches from the line and goes down, the robot moves forward, the arm passes the obstacle and grippes the line again. In a same way another arms pass the obstacle.

  11. JACoW A dual arms robotic platform control for navigation, inspection and telemanipulation

    CERN Document Server

    Di Castro, Mario; Ferre, Manuel; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

    2018-01-01

    High intensity hadron colliders and fixed target experiments require an increasing amount of robotic tele-manipulation to prevent excessive exposure of maintenance personnel to the radioactive environment. Telemanipulation tasks are often required on old radioactive devices not conceived to be maintained and handled using standard industrial robotic solutions. Robotic platforms with a level of dexterity that often require the use of two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual robotic arm system is presented. The control of the arms is fully integrated with the vehicle control in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low level safety layer for anti-collision and recovery scenarios. Preliminary results of the system comm...

  12. Eddy currents inspection of CANDU steam generator' tubes using Zetec's ZR-1 Robot: experience in Romania

    Energy Technology Data Exchange (ETDEWEB)

    Hower, S. [Zetec Inc., Quebec, Quebec (Canada); Serban, M. [CNE-Prod U1 Cernavoda (Romania); Vladu, L. [Compcontrol Ing., Bucharest (Romania)

    2006-07-01

    'Full text:' The paper introduces the new ZR-1 Robot System for Inspection and Maintenance/Repair from Zetec that combines the newest state-of-the-art robotics technology with Zetec experience-based innovation to address the needs for inspection and repair of steam generators. The multipurpose ZR-1 can be easily installed to perform the necessary eddy current inspection and remain installed ready for follow-up maintenance and repair. It has superior technical performances and a modular three axis motion of arm that enables 100% coverage of tube sheet. Automated, repeatable, and precise positioning of toolheads, ensures accurate delivery and reducing costly rework and reduces inspection time by 30%. The modular, lightweight, and portable design permits easy assembly and disassembly through small openings and it reduces setup/tear down time by 30%. The first deployment of the new ZR-1 Robot was made in September 2004 at the Cernavoda NPP inspection outage. The Cernavoda plant has four Advanced 600 MW CANDU-design generators that have been in service since 1996. The paper presents also the Zetec's filed experience and customer experience with this system. It describes the equipment setup in Cernavoda's generator mock-up, functional testes and calibration. Finally, provides details on the execution of the inspection, options for standardizing the inspection techniques and conclusions. (author)

  13. Explorer-II: Wireless Self-Powered Visual and NDE Robotic Inspection System for Live Gas Distribution Mains

    Energy Technology Data Exchange (ETDEWEB)

    Carnegie Mellon University

    2008-09-30

    Carnegie Mellon University (CMU) under contract from Department of Energy/National Energy Technology Laboratory (DoE/NETL) and co-funding from the Northeast Gas Association (NGA), has completed the overall system design, field-trial and Magnetic Flux Leakage (MFL) sensor evaluation program for the next-generation Explorer-II (X-II) live gas main Non-destructive Evaluation (NDE) and visual inspection robot platform. The design is based on the Explorer-I prototype which was built and field-tested under a prior (also DoE- and NGA co-funded) program, and served as the validation that self-powered robots under wireless control could access and navigate live natural gas distribution mains. The X-II system design ({approx}8 ft. and 66 lbs.) was heavily based on the X-I design, yet was substantially expanded to allow the addition of NDE sensor systems (while retaining its visual inspection capability), making it a modular system, and expanding its ability to operate at pressures up to 750 psig (high-pressure and unpiggable steel-pipe distribution mains). A new electronics architecture and on-board software kernel were added to again improve system performance. A locating sonde system was integrated to allow for absolute position-referencing during inspection (coupled with external differential GPS) and emergency-locating. The power system was upgraded to utilize lithium-based battery-cells for an increase in mission-time. The resulting robot-train system with CAD renderings of the individual modules. The system architecture now relies on a dual set of end camera-modules to house the 32-bit processors (Single-Board Computer or SBC) as well as the imaging and wireless (off-board) and CAN-based (on-board) communication hardware and software systems (as well as the sonde-coil and -electronics). The drive-module (2 ea.) are still responsible for bracing (and centering) to drive in push/pull fashion the robot train into and through the pipes and obstacles. The steering modules

  14. Robotics in the nuclear environment-inspection and repairs inside the primary coolant system

    International Nuclear Information System (INIS)

    Guillet, J.; Marcel Tortolano

    2005-01-01

    The increase in the lifetime of the power plants and the ageing of materials require the intervention inside the components to carry out controls and possibly repairs in the event of discovered defects. Within this framework, EDF is investigating the feasibility of robotized repairs of the components and pipes of the main primary coolant system of a nuclear power plant. For several years, EDF R and D has engaged projects whose subject of study is the possibility of repairing components such as the main vessel; the pressurizer or the primary coolant pipes with the help of robots and dedicated tools. INTERVENTIONS INSIDE PRIMARY COOLANT PIPES: Studies undertaken by EDF highlighted that certain zones, particularly in pipe connections, can be affected by thermal fatigue which causes crackling defects or crackings. In anticipation of this phenomenon which would affect primary pipes and to avoid their replacements, EDF R and D has been studying the feasibility of examining and repairing these zones using robots. Robotized repair consists in introducing into the pipe while passing by the vessel, a 6 degrees of freedom manipulator mounted on a mobile carrier. This robot implements and carries out the trajectories of the different processes of repair: - Precise localization of the defects, - Elimination (possibly sampling) of the defects by machining, - Control that the defects were eliminated, - Weld metal buildup if the repair cavity is too deep, - Grinding followed by a new control of the surface. These studies and tests were conducted in the laboratory of EDF R and D in Chatou. The sequence of operations included machining by grinding and milling, profilometric control, dye penetrant testing, TIG welding and ultrasonic examinations. The results of the tests, executed on full scale models of components, are satisfactory and show the advantages of robotics compared with classical methods. ROBOTIZED INTERVENTIONS IN THE REACTOR VESSEL: Another difficult issue is the

  15. 46 CFR 115.620 - Description of the Alternative Hull Examination (AHE) Program for certain passenger vessels.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Description of the Alternative Hull Examination (AHE... ACCOMMODATIONS FOR MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.620 Description of the Alternative Hull Examination (AHE) Program for certain passenger vessels. The Alternative...

  16. 46 CFR 115.625 - Eligibility requirements for the Alternative Hull Examination (AHE) Program for certain passenger...

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Eligibility requirements for the Alternative Hull... OVERNIGHT ACCOMMODATIONS FOR MORE THAN 49 PASSENGERS INSPECTION AND CERTIFICATION Hull and Tailshaft Examinations § 115.625 Eligibility requirements for the Alternative Hull Examination (AHE) Program for certain...

  17. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

    This article reviews some of the technical areas and history associated with robotics, provides information relative to the formation of a Robotics Industry Committee within the Industry Applications Society (IAS), and describes how all activities relating to robotics will be coordinated within the IEEE. Industrial robots are being used for material handling, processes such as coating and arc welding, and some mechanical and electronics assembly. An industrial robot is defined as a programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for a variety of tasks. The initial focus of the Robotics Industry Committee will be on the application of robotics systems to the various industries that are represented within the IAS

  18. An Automated Sensing System for Steel Bridge Inspection Using GMR Sensor Array and Magnetic Wheels of Climbing Robot

    Directory of Open Access Journals (Sweden)

    Rui Wang

    2016-01-01

    Full Text Available Corrosion is one of the main causes of deterioration of steel bridges. It may cause metal loss and fatigue cracks in the steel components, which would lead to the collapse of steel bridges. This paper presents an automated sensing system to detect corrosion, crack, and other kinds of defects using a GMR (Giant Magnetoresistance sensor array. Defects will change the relative permeability and electrical conductivity of the material. As a result, magnetic field density generated by ferromagnetic material and the magnetic wheels will be changed. The defects are able to be detected by using GMR sensor array to measure the changes of magnetic flux density. In this study, magnetic wheels are used not only as the adhesion device of the robot, but also as an excitation source to provide the exciting magnetic field for the sensing system. Furthermore, compared to the eddy current method and the MFL (magnetic flux leakage method, this sensing system suppresses the noise from lift-off value fluctuation by measuring the vertical component of induced magnetic field that is perpendicular to the surface of the specimen in the corrosion inspection. Simulations and experimental results validated the feasibility of the system for the automated defect inspection.

  19. System for leaks inspection in a nuclear plant by means of a mobile robot

    International Nuclear Information System (INIS)

    Ramirez S, R.; Segovia de los Rios, J.A.

    2004-01-01

    In this work a supervision system that could allow to carry out the detection of leaks of vapor in pipe lines, using a mobile robot Pioneer 2 -D Xe, which is controlled by means of an external micro controller 68HC912B32 programmed in Forth and using diffuse control to travel a road by means of the one to follow one lines painted in the floor is described. The robot takes in his superior part, a thermographic camera that allows to determine if leaks of vapor exist in pipes and a dosemeter to measure the present radiation levels in the place, besides a video camera. This way, the personnel, can make sure of having a propitious situation to make the maintenance of the facilities. (Author)

  20. Merge Fuzzy Visual Servoing and GPS-Based Planning to Obtain a Proper Navigation Behavior for a Small Crop-Inspection Robot.

    Science.gov (United States)

    Bengochea-Guevara, José M; Conesa-Muñoz, Jesus; Andújar, Dionisio; Ribeiro, Angela

    2016-02-24

    The concept of precision agriculture, which proposes farming management adapted to crop variability, has emerged in recent years. To effectively implement precision agriculture, data must be gathered from the field in an automated manner at minimal cost. In this study, a small autonomous field inspection vehicle was developed to minimise the impact of the scouting on the crop and soil compaction. The proposed approach integrates a camera with a GPS receiver to obtain a set of basic behaviours required of an autonomous mobile robot to inspect a crop field with full coverage. A path planner considered the field contour and the crop type to determine the best inspection route. An image-processing method capable of extracting the central crop row under uncontrolled lighting conditions in real time from images acquired with a reflex camera positioned on the front of the robot was developed. Two fuzzy controllers were also designed and developed to achieve vision-guided navigation. A method for detecting the end of a crop row using camera-acquired images was developed. In addition, manoeuvres necessary for the robot to change rows were established. These manoeuvres enabled the robot to autonomously cover the entire crop by following a previously established plan and without stepping on the crop row, which is an essential behaviour for covering crops such as maize without damaging them.

  1. Development of a running robot in super high speed tube. Aiming at realization of in-tube inspection for primary cooler and so forth of nuclear reactor

    International Nuclear Information System (INIS)

    Kato, Shigeo

    2000-01-01

    Authors have carried out a study on an in-tube running robot in living body on a base of laying stretching of bellows at a means of running by thinking application of in-tube inspection in living body such as large and small bowels. As a result, an in-tube running robot with about 20 mm in inner diameter capable of running in soft small bowel as well as in hard running tube was developed successfully. After an accident of the Tsuruga nuclear power plant, inspection of a large diameter tube with 76 mm in inner diameter was found to be much important, to begin development of an in-tube running robot for 50 mm class diameter tube. As a result, an in-tube running robot capable of enough holding a micro video camera with about 20 g in mass and showing 4.6 N in tension at more than ten times higher speed of 248 mm/s in no loading state, could be made in trial. Here was reported on a foothold realizable on an in-tube running robot for the 76 mm class large diameter tube to be investigated in future. (G.K.)

  2. Signal sensing of the internal ducts inspection robot: GIRINO (Get Inside Robot to Impel Normal Operation); Sensoriamento de sinais do robo de inspecao interna de dutos: GIRINO (Gabarito Interno Robotizado de Incidencia Normal ao Oleoduto)

    Energy Technology Data Exchange (ETDEWEB)

    Panta, Pedro G.; Dutra, Max S. [Universidade Federal do Rio de Janeiro (UFRJ), RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia (COPPE); Santos, Auderi V.; Ferreira, Rodrigo C. [Pontificia Univ. Catolica do Rio de Janeiro (PUC-Rio), RJ (Brazil). Centro de Estudos em Telecomunicacoes; Reis, Ney S. [PETROBRAS, Rio de Janeiro, RJ (Brazil). Centro de Pesquisas

    2004-07-01

    One of the major challenges in the operation field of subway oil pipelines is the presence of blockades caused by paraffin and hydrates accumulation. The maintenance and inspection inside pipelines practiced until now imply complicated risky processes for people and equipment involved in daily operational activities. The Get Inside Robot to Impel Normal Operation (G.I.R.I.N.O.) is a robot developed by the Robotic Laboratory of PETROBRAS Research Center, that aims at looking for less risky ways in internal inspection process of pipelines which displacement movements are generated by hydraulic energy. In order to get the inspection and displacement functions, the G.I.R.I.N.O. needs a constant internal movement monitoring that is made by its several parts; the interaction with the environment in diverse processes. This paper has the objective of proposing a monitoring system for the 14 inch duct G.I.R.I.N.O. For this end, a study of available components for receiving , signal processing and visualization used in the industry that fulfill the basic requirements of the robot's performance was done. The choice of the proposed devices considers these main features: size, power consumption and marinization capability. (author)

  3. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

    This article, which is aimed at the general reader, examines latest developments in, and the role of, modern robotics. The 7 main sections are sub-divided into 27 papers presented by 30 authors. The sections are as follows: 1) The role of robotics, 2) Robotics in the business world and what it can offer, 3) Study and development, 4) Utilisation, 5) Wages, 6) Conditions for success, and 7) Technological dynamics.

  4. Actuator Module of Robot Manipulator for Nuclear Power Plants Inspection, Maintenance and Decommission

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Sung Uk; Jung, Kyung Min; Seo, Young Chil; Choi, Byung Seon; Moon, Jei Kwon [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of)

    2014-10-15

    For nuclear facility decommissioning, there are many different electrical manipulators to remotely dismantle a nuclear facility. Various manipulators will be necessary for inspection, maintenance and decommission. Only one manipulator cannot response to many required tasks. Therefore, several manipulators are necessary, depending on the payload capacity, their number of axes and their dexterity. Each manipulator was developed for a specific task. The actuators used at manipulator are varied and many companies sell actuators depending on power, torque and speed. However, the commercial product is not standardized. Therefore, the development of the manipulator is time consuming and expensive. The essential item of the manipulators is the actuator module. If actuator module is standardized, it is easier to develop manipulator. In this paper, we developed two electrical actuator modules to standardize the actuator module and easily develop a manipulator using the proposed actuator modules. The electrical actuator module has a motor, gear and rotary sensor, and is also waterproof. The electrically driven manipulator being used in the proposed actuator modules will be shown. Two modularized electrical actuator modules were developed for inspection, maintenance and decommission. Using the two developed actuator modules, the manipulator inspecting the welding area of reactor vessel is easily developed. Various modularized electrical actuator modules will be developed in terms of size and power.

  5. Measurement of leached hulls

    International Nuclear Information System (INIS)

    Reilly, T.D.

    1979-07-01

    Leached hulls are the short lengths of fuel rod cladding and fuel element hardware which constitute a major waste product of a reprocessing plant employing a chop-and-leach head-end process. The small, undissolved fuel residue (0.1 to 1.0% of original fuel content) which is discarded with this waste must be measured for safeguards, material accountability, and process control reasons. This report gives a critical analysis of hull measurement techniques involving the analysis of fission product gamma rays, spontaneous fission neutrons from curium, and delayed neutron activation. Major emphasis is given to the measurement of 2186-keV gamma rays from 144 Ce-- 144 Pr. A detailed description of typical leached hull characteristics is presented at the beginning of the report. An extensive review of experience gained from existing hull measurement systems in the United Kingdom, France, Japan, Germany, Italy, and the United States is presented

  6. Dynamic Planar Convex Hull

    DEFF Research Database (Denmark)

    Jacob, Riko

    We determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage of the data structure...... is O(n). The data structure supports extreme point queries in a given direction, tangent queries through a given point, and queries for the neighboring points on the convex hull in O(log n) time. The extreme point queries can be used to decide whether or not a given line intersects the convex hull......, and the tangent queries to determine whether a given point is inside the convex hull. The space usage of the data structure is O(n). We give a lower bound on the amortized asymptotic time complexity that matches the performance of this data structure....

  7. Remote handling and robotic inspections of Palo Verde reactor vessel internals

    International Nuclear Information System (INIS)

    Ryder, W.

    1998-01-01

    Remote visual examinations and handling evolutions in high radiation field environments have required the use of radiation tolerant video systems. These systems involve significant expense and potentially require large envelope deployment structures. Recent events at Palo Verde including Upper Guide Structure damage and Reactor Vessel In-Service Inspections have provided opportunities for research, design and utilization of alternative approaches. Most significant of these, utilization of CCD modules with high magnification capabilities, have produced higher quality viewing, reduced maintenance expenditures, and rapid deployment intervals. (orig.) [de

  8. Automated Inspection of Aircraft

    Science.gov (United States)

    1998-04-01

    This report summarizes the development of a robotic system designed to assist aircraft inspectors by remotely deploying non-destructive inspection (NDI) sensors and acquiring, processing, and storing inspection data. Carnegie Mellon University studie...

  9. Dynamic Planar Convex Hull

    DEFF Research Database (Denmark)

    Brodal, Gerth Stølfting; Jacob, Rico

    2002-01-01

    In this paper we determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage of the d......In this paper we determine the computational complexity of the dynamic convex hull problem in the planar case. We present a data structure that maintains a finite set of n points in the plane under insertion and deletion of points in amortized O(log n) time per operation. The space usage...... of the data structure is O(n). The data structure supports extreme point queries in a given direction, tangent queries through a given point, and queries for the neighboring points on the convex hull in O(log n) time. The extreme point queries can be used to decide whether or not a given line intersects...... the convex hull, and the tangent queries to determine whether a given point is inside the convex hull. We give a lower bound on the amortized asymptotic time complexity that matches the performance of this data structure....

  10. 14 CFR 23.755 - Hulls.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hulls. 23.755 Section 23.755 Aeronautics... Hulls § 23.755 Hulls. (a) The hull of a hull seaplane or amphibian of 1,500 pounds or more maximum weight must have watertight compartments designed and arranged so that the hull auxiliary floats, and...

  11. Inspection of Pipe Inner Surface using Advanced Pipe Crawler Robot with PVDF Sensor based Rotating Probe

    Directory of Open Access Journals (Sweden)

    Vimal AGARWAL

    2011-04-01

    Full Text Available Due to corrosive environment, pipes used for transportation of water and gas at the plants often get damaged. Defects caused by corrosion and cracking may cause serious accidents like leakage, fire and blasts. It also reduces the life of the transportation system substantially. In order to inspect such defects, a Polyvinyledene Fluoride (PVDF based cantilever smart probe is developed to scan the surface quality of the pipes. The smart probe, during rotation, touches the inner surface of the pipe and experience a broad-band excitation in the absence of surface features. On the other hand, whenever the probe comes across any surface projection, there is a change in vibration pattern of the probe, which causes a high voltage peak/pulse. Such peaks/pulses could give useful information about the location and nature of a defect. Experiments are carried out on different patterns, sizes and shapes of surface projections artificially constructed inside the pipe. The sensor system has reliably predicted the presence and distribution of projections in every case. It is envisaged that the new sensing system could be used effectively for pipe health monitoring.

  12. Multi-purpose hull

    International Nuclear Information System (INIS)

    Taylor, W.C.; Horgan, J.B.G.; Downie, D.M.

    1982-01-01

    An 18 sided hull approximately 4 metres in diameter formed in prefabricated watertight sections from GRP has been designed for burying underground to withstand an overpressure of 12P.S.I above normal atmospheric pressure for human protection against a nuclear explosion and resultant radioactivity. The pre-fabricated sections are so designed to be stacked together prior to assembling and the assembled hulls can also be stacked together both vertically and horizontally in a honeycomb formation to form a multiple chamber. (author)

  13. PAUT-based defect detection method for submarine pressure hulls

    Directory of Open Access Journals (Sweden)

    Min-jae Jung

    2018-03-01

    Full Text Available A submarine has a pressure hull that can withstand high hydraulic pressure and therefore, requires the use of highly advanced shipbuilding technology. When producing a pressure hull, periodic inspection, repair, and maintenance are conducted to maintain its soundness. Of the maintenance methods, Non-Destructive Testing (NDT is the most effective, because it does not damage the target but sustains its original form and function while inspecting internal and external defects. The NDT process to detect defects in the welded parts of the submarine is applied through Magnetic particle Testing (MT to detect surface defects and Ultrasonic Testing (UT and Radiography Testing (RT to detect internal defects. In comparison with RT, UT encounters difficulties in distinguishing the types of defects, can yield different results depending on the skills of the inspector, and stores no inspection record. At the same time, the use of RT gives rise to issues related to worker safety due to radiation exposure. RT is also difficult to apply from the perspectives of the manufacturing of the submarine and economic feasibility. Therefore, in this study, the Phased Array Ultrasonic Testing (PAUT method was applied to propose an inspection method that can address the above disadvantages by designing a probe to enhance the precision of detection of hull defects and the reliability of calculations of defect size. Keywords: Submarine pressure hull, Non-destructive testing, Phased array ultrasonic testing

  14. Robotics

    Indian Academy of Sciences (India)

    netic induction to detect an object. The development of ... end effector, inclination of object, magnetic and electric fields, etc. The sensors described ... In the case of a robot, the various actuators and motors have to be modelled. The major ...

  15. PWR vessel inspection performance improvements

    International Nuclear Information System (INIS)

    Blair Fairbrother, D.; Bodson, Francis

    1998-01-01

    A compact robot for ultrasonic inspection of reactor vessels has been developed that reduces setup logistics and schedule time for mandatory code inspections. Rather than installing a large structure to access the entire weld inspection area from its flange attachment, the compact robot examines welds in overlapping patches from a suction cup anchor to the shell wall. The compact robot size allows two robots to be operated in the vessel simultaneously. This significantly reduces the time required to complete the inspection. Experience to date indicates that time for vessel examinations can be reduced to fewer than four days. (author)

  16. Robot vision

    International Nuclear Information System (INIS)

    Hall, E.L.

    1984-01-01

    Almost all industrial robots use internal sensors such as shaft encoders which measure rotary position, or tachometers which measure velocity, to control their motions. Most controllers also provide interface capabilities so that signals from conveyors, machine tools, and the robot itself may be used to accomplish a task. However, advanced external sensors, such as visual sensors, can provide a much greater degree of adaptability for robot control as well as add automatic inspection capabilities to the industrial robot. Visual and other sensors are now being used in fundamental operations such as material processing with immediate inspection, material handling with adaption, arc welding, and complex assembly tasks. A new industry of robot vision has emerged. The application of these systems is an area of great potential

  17. Incore inspection and repairing device

    International Nuclear Information System (INIS)

    Ito, Arata; Kimura, Motohiko

    1998-01-01

    The present invention provides a device for inspecting and repairing the inside of a reactor container even if it is narrow, with no trouble by using a swimming-type operation robot. Namely, the device of the present invention conducts inspection and repairing operations for the inside of the reactor by introducing a swimming type operation robot into the reactor container. The swimming-type operation robot comprises a robot main body having a propeller, a balancer operably disposed to the robot main body and an inspection and repairing unit attached detachable to the balancer. In the device of the present invention, since the inspection and preparing unit is attached detachably to the swimming robot, a robot which transports tools is formed as a standard product. As a result, the production cost can be reduced, and the reliability of products can be improved. Appropriate operations can be conducted by using best tools. (I.S.)

  18. Latest Trends in the Monitoring of Ships’s Hull Underwater Part and Analysis of Its Effectiveness

    OpenAIRE

    Urbahs, A; Carjova, K; Vulans, P; Straume, R

    2012-01-01

    Ship operation is not possible without regular maintenance, inspection and certification, established by international and domestic law, where one of the main goals is an effective operation of a ship. To achieve this, it is important to reduce time and costs involved in carrying out the surveys. This paper explores the law under which it’s required for ship to have inspection of underwater part; identifies problems of ship’s hull underwater part; analyze latest trends in ship's hull underwat...

  19. 14 CFR 25.755 - Hulls.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hulls. 25.755 Section 25.755 Aeronautics... STANDARDS: TRANSPORT CATEGORY AIRPLANES Design and Construction Floats and Hulls § 25.755 Hulls. (a) Each hull must have enough watertight compartments so that, with any two adjacent compartments flooded, the...

  20. 14 CFR 29.755 - Hull buoyancy.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull buoyancy. 29.755 Section 29.755... STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Floats and Hulls § 29.755 Hull buoyancy. Water-based and amphibian rotorcraft. The hull and auxiliary floats, if used, must have enough...

  1. Robotics for nuclear facilities

    International Nuclear Information System (INIS)

    Abe, Akira; Nakayama, Ryoichi; Kubo, Katsumi

    1988-01-01

    It is highly desirable that automatic or remotely controlled machines perform inspection and maintenance tasks in nuclear facilities. Toshiba has been working to develop multi-functional robots, with one typical example being a master-slave manipulator for use in reprocessing facilities. At the same time, the company is also working on the development of multi-purpose intelligent robots. One such device, an automatic inspection robot, to be deployed along a monorail, performs inspection by means of image processing technology, while and advanced intelligent maintenance robot is equipped with a special wheel-locomotion mechanism and manipulator and is designed to perform maintenance tasks. (author)

  2. Feasibility of Robotics and Machine Vision in Military Combat Ration Inspection (Short Term Project STP No. 11)

    Science.gov (United States)

    1994-06-01

    January 1989. [11] Burdea G and Zhuang J. Dextrous telerobotics with force feedback - an overview - part 2: Control and implementation. Robotica , UK, 9...291-298, 1991. [12] Burdea G. and Zhuang J. Dextrous telerobotics with force feedback - an overview, part 1: Human I factors. Robotica , UK, 9:171-178...trans- planting workcell. In American Society of Agricultural Engineering, St. Joseph, MI, 1991. I [26] Frost A.R. Robotic milking: a review. Robotica

  3. 46 CFR 167.15-20 - Inspections of nautical school ships.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Inspections of nautical school ships. 167.15-20 Section... NAUTICAL SCHOOL SHIPS Inspections § 167.15-20 Inspections of nautical school ships. (a) At each annual inspection, or oftener if deemed necessary, the inspector will inspect the hull, boilers, machinery...

  4. Engineering Hydrodynamic AUV Hulls

    Science.gov (United States)

    Allen, J.

    2016-12-01

    AUV stands for autonomous underwater vehicle. AUVs are used in oceanography and are similar to gliders. MBARIs AUVs as well as other AUVs map the ocean floor which is very important. They also measure physical characteristics of the water, such as temperature and salinity. My science fair project for 4th grade was a STEM activity in which I built and tested 3 different AUV bodies. I wanted to find out which design was the most hydrodynamic. I tested three different lengths of AUV hulls to see which AUV would glide the farthest. The first was 6 inches. The second was 12 inches and the third was 18 inches. I used clay for the nosecone and cut a ruler into two and made it the fin. Each AUV used the same nosecone and fin. I tested all three designs in a pool. I used biomimicry to create my hypothesis. When I was researching I found that long slim animals swim fastest. So, my hypothesis is the longer AUV will glide farthest. In the end I was right. The longer AUV did glide the farthest.

  5. Vision-based online vibration estimation of the in-vessel inspection flexible robot with short-time Fourier transformation

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Hesheng [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Chen, Weidong, E-mail: wdchen@sjtu.edu.cn [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China); Xu, Lifei; He, Tao [Key Laboratory of System Control and Information Processing, Ministry of Education of China (China); Department of Automation, Shanghai Jiao Tong University, Shanghai 200240 (China)

    2015-10-15

    Highlights: • Vision-based online vibration estimation method for a flexible arm is proposed. • The vibration signal is obtained by image processing in unknown environments. • Vibration parameters are estimated by short-time Fourier transformation. - Abstract: The vibration should be suppressed if it happens during the motion of a flexible robot or under the influence of external disturbance caused by its structural features and material properties, because the vibration may affect the positioning accuracy and image quality. In Tokamak environment, we need to get the real-time vibration information on vibration suppression of robotic arm, however, some sensors are not allowed in the extreme Tokamak environment. This paper proposed a vision-based method for online vibration estimation of a flexible manipulator, which is achieved by utilizing the environment image information from the end-effector camera to estimate its vibration. Short-time Fourier Transformation with adaptive window length method is used to estimate vibration parameters of non-stationary vibration signals. Experiments with one-link flexible manipulator equipped with camera are carried out to validate the feasibility of this method in this paper.

  6. Vision-based online vibration estimation of the in-vessel inspection flexible robot with short-time Fourier transformation

    International Nuclear Information System (INIS)

    Wang, Hesheng; Chen, Weidong; Xu, Lifei; He, Tao

    2015-01-01

    Highlights: • Vision-based online vibration estimation method for a flexible arm is proposed. • The vibration signal is obtained by image processing in unknown environments. • Vibration parameters are estimated by short-time Fourier transformation. - Abstract: The vibration should be suppressed if it happens during the motion of a flexible robot or under the influence of external disturbance caused by its structural features and material properties, because the vibration may affect the positioning accuracy and image quality. In Tokamak environment, we need to get the real-time vibration information on vibration suppression of robotic arm, however, some sensors are not allowed in the extreme Tokamak environment. This paper proposed a vision-based method for online vibration estimation of a flexible manipulator, which is achieved by utilizing the environment image information from the end-effector camera to estimate its vibration. Short-time Fourier Transformation with adaptive window length method is used to estimate vibration parameters of non-stationary vibration signals. Experiments with one-link flexible manipulator equipped with camera are carried out to validate the feasibility of this method in this paper.

  7. Robotics and remote systems applications

    International Nuclear Information System (INIS)

    Rabold, D.E.

    1996-01-01

    This article is a review of numerous remote inspection techniques in use at the Savannah River (and other) facilities. These include: (1) reactor tank inspection robot, (2) californium waste removal robot, (3) fuel rod lubrication robot, (4) cesium source manipulation robot, (5) tank 13 survey and decontamination robots, (6) hot gang valve corridor decontamination and junction box removal robots, (7) lead removal from deionizer vessels robot, (8) HB line cleanup robot, (9) remote operation of a front end loader at WIPP, (10) remote overhead video extendible robot, (11) semi-intelligent mobile observing navigator, (12) remote camera systems in the SRS canyons, (13) cameras and borescope for the DWPF, (14) Hanford waste tank camera system, (15) in-tank precipitation camera system, (16) F-area retention basin pipe crawler, (17) waste tank wall crawler and annulus camera, (18) duct inspection, and (19) deionizer resin sampling

  8. Strength Tests on Hulls and Floats

    Science.gov (United States)

    Matthaes, K

    1942-01-01

    The present report deals with strength tests on hulls and floats intended in part for the collection of construction data for the design of these components and in part for the stress analysis of the finished hulls and floats.

  9. STUDI KOMPARASI KINERJA HULL FORM METODE SCHELTEMA DENGAN HULL FORM KAPAL IKAN TRADISIONAL TIPE DAERAH BATANG

    OpenAIRE

    A.F. Zakki; Parlindungan Manik

    2012-01-01

    This study comparation of hull form performance was analysed becaused there was suggestion that a ship was built by hull form scheming this time (Scheltema, Formdata, NPL Series) is better than a ship that was built traditionally because there is no basic erudite calculation in hull form design. So hull form design was result of natural adaptation. Such performance are ship’s resistance, stability, and ship’s navigation.This research about hull form performance is expected can giv...

  10. Full autonomous microline trace robot

    Science.gov (United States)

    Yi, Deer; Lu, Si; Yan, Yingbai; Jin, Guofan

    2000-10-01

    Optoelectric inspection may find applications in robotic system. In micro robotic system, smaller optoelectric inspection system is preferred. However, as miniaturizing the size of the robot, the number of the optoelectric detector becomes lack. And lack of the information makes the micro robot difficult to acquire its status. In our lab, a micro line trace robot has been designed, which autonomous acts based on its optoelectric detection. It has been programmed to follow a black line printed on the white colored ground. Besides the optoelectric inspection, logical algorithm in the microprocessor is also important. In this paper, we propose a simply logical algorithm to realize robot's intelligence. The robot's intelligence is based on a AT89C2051 microcontroller which controls its movement. The technical details of the micro robot are as follow: dimension: 30mm*25mm*35*mm; velocity: 60mm/s.

  11. Inspection system performance test procedure

    International Nuclear Information System (INIS)

    Jensen, C.E.

    1995-01-01

    This procedure establishes requirements to administer a performance demonstration test. The test is to demonstrate that the double-shell tank inspection system (DSTIS) supplied by the contractor performs in accordance with the WHC-S-4108, Double-Shell Tank Ultrasonic Inspection Performance Specification, Rev. 2-A, January, 1995. The inspection system is intended to provide ultrasonic (UT) and visual data to determine integrity of the Westinghouse Hanford Company (WHC) site underground waste tanks. The robotic inspection system consists of the following major sub-systems (modules) and components: Mobile control center; Deployment module; Cable management assembly; Robot mechanism; Ultrasonic testing system; Visual testing system; Pneumatic system; Electrical system; and Control system

  12. 46 CFR 45.129 - Hull fittings: General.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Hull fittings: General. 45.129 Section 45.129 Shipping... Assignment § 45.129 Hull fittings: General. Hull fittings must be securely mounted in the hull so as to avoid increases in hull stresses and must be protected from local damage caused by movement of equipment or cargo. ...

  13. 46 CFR 154.174 - Transverse contiguous hull structure.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Transverse contiguous hull structure. 154.174 Section... Equipment Hull Structure § 154.174 Transverse contiguous hull structure. (a) The transverse contiguous hull...) The transverse contiguous hull structure of a vessel having cargo containment systems with secondary...

  14. 46 CFR 115.645 - Alternative Hull Examination (AHE) Procedure.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Alternative Hull Examination (AHE) Procedure. 115.645... AND CERTIFICATION Hull and Tailshaft Examinations § 115.645 Alternative Hull Examination (AHE... underwater hull plating and a detailed examination of all hull welds, propellers, tailshafts, rudders, and...

  15. Robotics for nuclear power plants

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi; Kimura, Motohiko; Abe, Akira

    1993-01-01

    A continuing need exists for automatic or remote-controlled machines or robots which can perform inspection and maintenance tasks in nuclear power plants. Toshiba has developed several types of monofunctional and multi- functional robots for such purposes over the past 20 years, some of which have already been used in actual plants. This paper describes new multifunctional robots for inspection and maintenance. An inspection robot has been applied in an actual plant for two years for performance testing. Maintenance robots for grinding tasks have also been developed, which can be easily teleoperated by the operator using automatic control. These new robots are expected to be applied to actual inspection and maintenance work in nuclear power plants. (author)

  16. Maintained ship hull girder ultimate strength reliability considering corrosion and fatigue

    DEFF Research Database (Denmark)

    Hu, Yong; Cui, W.; Pedersen, Preben Terndrup

    2004-01-01

    The prupose of this paper is to propose a methodology to assess the time-variant ultimate strength of ship hull girder under the degradations of corrosion and fatigue. The effects of fatigue cracks on the tensile and compressive residual ultimate strength of stiffened panels and unstiffened plates......, webs and flanges, respectively. The effects of inspections and repair are taken into account. A minimum net thickness rule is used to determine repair policies. A procedure is proposed to determine the maximum allowable corrosion thickness of different parts of the hull cross section. The procedure...

  17. ARIES: A mobile robot inspector

    International Nuclear Information System (INIS)

    Byrd, J.S.

    1995-01-01

    ARIES (Autonomous Robotic Inspection Experimental System) is a mobile robot inspection system being developed for the Department of Energy (DOE) to survey and inspect drums containing mixed and low-level radioactive waste stored in warehouses at DOE facilities. The drums are typically stacked four high and arranged in rows with three-foot aisle widths. The robot will navigate through the aisles and perform an autonomous inspection operation, typically performed by a human operator. It will make real-time decisions about the condition of the drums, maintain a database of pertinent information about each drum, and generate reports

  18. 46 CFR 172.085 - Hull type.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull type. 172.085 Section 172.085 Shipping COAST GUARD... of This Chapter § 172.085 Hull type. If a cargo listed in Table 151.05 of part 151 of this chapter is to be carried, the tank barge must be at least the hull type specified in Table 151.05 of this...

  19. 33 CFR 110.31 - Hull Bay and Allerton Harbor at Hull, Mass.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Hull Bay and Allerton Harbor at Hull, Mass. 110.31 Section 110.31 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY ANCHORAGES ANCHORAGE REGULATIONS Special Anchorage Areas § 110.31 Hull Bay and Allerton Harbor at...

  20. Application status and performance analysis of robot in nuclear power plants

    International Nuclear Information System (INIS)

    Liu Chengze; Yan Zhi; Deng Jingshan

    2012-01-01

    Application status of robot in nuclear power plants in some countries is summarized. The related robots include accident response robot, dismantling and cleaning robot, in-service inspection robot, special-purpose robot and so on. Finally, some key technologies such as the radiation-tolerance and reliability of the robot systems are analyzed in details. (authors)

  1. Climbing Robot for Ferromagnetic Surfaces with Dynamic Adjustment of the Adhesion System

    Directory of Open Access Journals (Sweden)

    Manuel F. Silva

    2012-01-01

    Full Text Available This paper presents a climbing robot with wheeled locomotion and adhesion through permanent magnets, developed with the intention of being used in the inspection of different types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, and ship hulls. In this paper are presented the main considerations thought for its project, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture, and the human-machine interface developed for the manual and automatic control of the vehicle while in operation. Although it can be manually controlled, the vehicle is designed to have a semiautonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even when crossing slightly irregular and curved surfaces with a large radius.

  2. 46 CFR 185.602 - Hull markings.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull markings. 185.602 Section 185.602 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SMALL PASSENGER VESSELS (UNDER 100 GROSS TONS) OPERATIONS Markings Required § 185.602 Hull markings. (a) Each vessel must be marked as required by part 67...

  3. 46 CFR 122.602 - Hull markings.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hull markings. 122.602 Section 122.602 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SMALL PASSENGER VESSELS CARRYING MORE THAN 150....602 Hull markings. (a) Each vessel must be marked as required by part 67, subpart I, of this chapter...

  4. A study on an autonomous pipeline maintenance robot, 8

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Niitsu, Shunichi; Kaneshige, Masanori; Iwasaki, Shinnosuke.

    1990-01-01

    This paper deals with the path planning and sensing planning expert system with learning functions for the pipeline inspection and maintenance robot, Mark IV. The robot can carry out inspection tasks to autonomously detect malfunctions in a plant pipeline system. Furthermore, the robot becomes more intelligent by adding the following functions: (1) the robot, Mark IV, is capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces; (2) in path planning, the robot has a learning function using information generated in the past such as a moving path, task level and control commands of the robot; (3) in inspecting a pipeline system with plant equipment such as valves, franges, T- and L-joints, the robot is capable of inspecting continuous surfaces in pipeline. Thus, together with the improved path planning expert system (PPES) and the sensing planning expert system (SPES), the Mark IV robot becomes intelligent enough to automatically carry out given inspection tasks. (author)

  5. 46 CFR 45.153 - Through-hull piping: General.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Through-hull piping: General. 45.153 Section 45.153... Conditions of Assignment § 45.153 Through-hull piping: General. (a) All through-hull pipes required by this subpart must be made of steel or material equivalent to the hull in strength and fatigue resistance. (b...

  6. 46 CFR 154.176 - Longitudinal contiguous hull structure.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Longitudinal contiguous hull structure. 154.176 Section... Equipment Hull Structure § 154.176 Longitudinal contiguous hull structure. (a) The longitudinal contiguous hull structure of a vessel having cargo containment systems without secondary barriers must meet the...

  7. 46 CFR 154.178 - Contiguous hull structure: Heating system.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Contiguous hull structure: Heating system. 154.178... Equipment Hull Structure § 154.178 Contiguous hull structure: Heating system. The heating system for transverse and longitudinal contiguous hull structure must: (a) Be shown by a heat load calculation to have...

  8. 46 CFR 154.180 - Contiguous hull structure: Welding procedure.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Contiguous hull structure: Welding procedure. 154.180... Equipment Hull Structure § 154.180 Contiguous hull structure: Welding procedure. Welding procedure tests for contiguous hull structure designed for a temperature colder than −18 °C (0 °F) must meet § 54.05-15 and...

  9. 14 CFR 29.757 - Hull and auxiliary float strength.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and auxiliary float strength. 29.757... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY ROTORCRAFT Design and Construction Floats and Hulls § 29.757 Hull and auxiliary float strength. The hull, and auxiliary floats if used, must withstand the...

  10. 46 CFR 151.10-20 - Hull construction.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Hull construction. 151.10-20 Section 151.10-20 Shipping... BULK LIQUID HAZARDOUS MATERIAL CARGOES Barge Hull Construction Requirements § 151.10-20 Hull construction. (a) Construction features. (1) Each barge hull shall be constructed with a suitable bow form...

  11. 46 CFR 151.10-1 - Barge hull classifications.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Barge hull classifications. 151.10-1 Section 151.10-1... CARRYING BULK LIQUID HAZARDOUS MATERIAL CARGOES Barge Hull Construction Requirements § 151.10-1 Barge hull classifications. (a) Each barge constructed or converted in conformance with this subpart shall be assigned a hull...

  12. 46 CFR 115.655 - Hull examination reports.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hull examination reports. 115.655 Section 115.655... CERTIFICATION Hull and Tailshaft Examinations § 115.655 Hull examination reports. (a) If you use only divers for the underwater survey portion of the Alternative Hull Examination (AHE), you must provide the Officer...

  13. 46 CFR 154.188 - Membrane tank: Inner hull steel.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Membrane tank: Inner hull steel. 154.188 Section 154.188... STANDARDS FOR SELF-PROPELLED VESSELS CARRYING BULK LIQUEFIED GASES Design, Construction and Equipment Hull Structure § 154.188 Membrane tank: Inner hull steel. For a vessel with membrane tanks, the inner hull...

  14. 21 CFR 573.160 - Ammoniated rice hulls.

    Science.gov (United States)

    2010-04-01

    ... 21 Food and Drugs 6 2010-04-01 2010-04-01 false Ammoniated rice hulls. 573.160 Section 573.160... Additive Listing § 573.160 Ammoniated rice hulls. The food additive ammoniated rice hulls may be safely... obtained by the treatment of ground rice hulls with monocalcium phosphate and anhydrous ammonia at a...

  15. Soft computing in advanced robotics

    CERN Document Server

    Kobayashi, Ichiro; Kim, Euntai

    2014-01-01

    Intelligent system and robotics are inevitably bound up; intelligent robots makes embodiment of system integration by using the intelligent systems. We can figure out that intelligent systems are to cell units, while intelligent robots are to body components. The two technologies have been synchronized in progress. Making leverage of the robotics and intelligent systems, applications cover boundlessly the range from our daily life to space station; manufacturing, healthcare, environment, energy, education, personal assistance, logistics. This book aims at presenting the research results in relevance with intelligent robotics technology. We propose to researchers and practitioners some methods to advance the intelligent systems and apply them to advanced robotics technology. This book consists of 10 contributions that feature mobile robots, robot emotion, electric power steering, multi-agent, fuzzy visual navigation, adaptive network-based fuzzy inference system, swarm EKF localization and inspection robot. Th...

  16. A new approach to hull consistency

    Directory of Open Access Journals (Sweden)

    Kolev Lubomir

    2016-06-01

    Full Text Available Hull consistency is a known technique to improve the efficiency of iterative interval methods for solving nonlinear systems describing steady-states in various circuits. Presently, hull consistency is checked in a scalar manner, i.e. successively for each equation of the nonlinear system with respect to a single variable. In the present poster, a new more general approach to implementing hull consistency is suggested which consists in treating simultaneously several equations with respect to the same number of variables.

  17. Global Loads on FRP Ship Hulls

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup

    1997-01-01

    Fibre reinforced plastic (FRP) composites used for high-speed vessels have lower modulus of elasticity than the conventionally used steels.Therefore, for large fast ships the lowest natural frequencies of the global hull modes can be relatively low compared to the frequency of waveencounter....... As part of the NoKoS project it was decided to investigate the effect of hull flexibility on the wave-induced as well as accidental structural loads on high-speed ships.Especially it was decided to determine whether there is an upper size of FRP and aluminium mono-hulls caused by continuous wave action...

  18. Development of an automatic reactor inspection system

    International Nuclear Information System (INIS)

    Kim, Jae Hee; Eom, Heung Seop; Lee, Jae Cheol; Choi, Yoo Raek; Moon, Soon Seung

    2002-02-01

    Using recent technologies on a mobile robot computer science, we developed an automatic inspection system for weld lines of the reactor vessel. The ultrasonic inspection of the reactor pressure vessel is currently performed by commercialized robot manipulators. Since, however, the conventional fixed type robot manipulator is very huge, heavy and expensive, it needs long inspection time and is hard to handle and maintain. In order to resolve these problems, we developed a new automatic inspection system using a small mobile robot crawling on the vertical wall of the reactor vessel. According to our conceptual design, we developed the reactor inspection system including an underwater inspection robot, a laser position control subsystem, an ultrasonic data acquisition/analysis subsystem and a main control subsystem. We successfully carried out underwater experiments on the reactor vessel mockup, and real reactor ready for Ulchine nuclear power plant unit 6 at Dusan Heavy Industry in Korea. After this project, we have a plan to commercialize our inspection system. Using this system, we can expect much reduction of the inspection time, performance enhancement, automatic management of inspection history, etc. In the economic point of view, we can also expect import substitution more than 4 million dollars. The established essential technologies for intelligent control and automation are expected to be synthetically applied to the automation of similar systems in nuclear power plants

  19. Hull's Diploma in Teaching of Adults

    Science.gov (United States)

    Styler, W. E.

    1971-01-01

    A diploma in the Teaching of Adults for part-time students was introduced in the University of Hull in 1966 as a fully recognized university diploma. Article discusses the three major parts of the course, examinations, and requirements. (RB)

  20. Morphing hull implementation for unmanned underwater vehicles

    Science.gov (United States)

    Miller, Timothy F.; Gandhi, Farhan; Rufino, Russell J.

    2013-11-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations).

  1. Morphing hull implementation for unmanned underwater vehicles

    International Nuclear Information System (INIS)

    Miller, Timothy F; Gandhi, Farhan; Rufino, Russell J

    2013-01-01

    There has been much interest and work in the area of morphing aircraft since the 1980s. Morphing could also potentially benefit unmanned underwater vehicles (UUVs). The current paper envisions a UUV with an interior pressure hull and a variable diameter outer flexible hull with fuel stored in the annulus between, and presents a mechanism to realize diameter change of the outer hull. The outer hull diameter of UUVs designed for very long endurance/range could be progressively reduced as fuel was consumed, thereby reducing drag and further increasing endurance and range capability. Diameter morphing could also be advantageous for compact storage of UUVs. A prototype is fabricated to represent an axial section of such a morphing diameter UUV. Diameter change is achieved using eight morphing trusses arranged equidistant around the circumference of the representative interior rigid hull. Each morphing truss has a lower rail (attached to the rigid hull) and an upper rail with V-linkages between, at either ends of the rail. Horizontal motion of the feet of the V-linkages (sliding in the lower rail) results in vertical motion of the upper rail which in turn produces diameter change of the outer hull. For the prototype built and tested, a 63% increase in outer diameter from 12.75″ to 20.75″ was achieved. The introduction of a stretched latex representative flexible skin around the outer rails increased actuation force requirement and led to a propensity for the wheel-in-track sliders in the morphing truss to bind. It is anticipated that this could be overcome with higher precision manufacturing. In addition to symmetric actuation of the morphing trusses resulting in diameter change, the paper also shows that with asymmetric actuation the hull cross-section shape can be changed (for example, from a circular section for underwater operation to a V-section for surface operations). (paper)

  2. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

    This issue of Exploratorium Magazine focuses on the topic robotics. It explains how to make a vibrating robotic bug and features articles on robots. Contents include: (1) "Where Robot Mice and Robot Men Run Round in Robot Towns" (Ray Bradbury); (2) "Robots at Work" (Jake Widman); (3) "Make a Vibrating Robotic Bug" (Modesto Tamez); (4) "The Robot…

  3. CFD simulation on Kappel propeller with a hull wake field

    DEFF Research Database (Denmark)

    Shin, Keun Woo; Andersen, Poul; Møller Bering, Rasmus

    2013-01-01

    Marine propellers are designed not for the open-water operation, but for the operation behind a hull due to the inhomogeneous hull wake and thrust deduction. The adaptation for the hull wake is important for the propulsive efficiency and cavitation risk especially on single-screw ships. CFD...... simulations for a propeller with a hull model have showed acceptable agreement with a model test result in the thrust and torque (Larsson et al. 2010). In the current work, a measured hull wake is applied to the simulation instead of modelling a hull, because the hull geometry is mostly not available...... for propeller designers and the computational effort can be reduced by excluding the hull. The CFD simulation of a propeller flow with a hull wake is verified in order to use CFD as a propeller design tool. A Kappel propeller, which is an innovative tip-modified propeller, is handled. Kappel propellers...

  4. Lessons of nuclear robot history

    International Nuclear Information System (INIS)

    Oomichi, Takeo

    2014-01-01

    Severe accidents occurred at Fukushima Daiichi Nuclear Power Station stirred up people's great expectation of nuclear robot's deployment. However unexpected nuclear disaster, especially rupture of reactor building caused by core meltdown and hydrogen explosion, made it quite difficult to introduce nuclear robot under high radiation environment to cease accidents and dispose damaged reactor. Robotics Society of Japan (RSJ) set up committee to look back upon lessons learned from 50 year's past experience of nuclear robot development and summarized 'Lessons of nuclear robot history', which was shown on the home page website of RSJ. This article outlined it with personal comment. History of nuclear robot developed for inspection and maintenance at normal operation and for specific required response at nuclear accidents was reviewed with many examples at home and abroad for TMI, Chernobyl and JCO accidents. Present state of Fukushima accident response robot's introduction and development was also described with some comments on nuclear robot development from academia based on lessons. (T. Tanaka)

  5. RIMACS, Reactor Inspection Main Control System

    International Nuclear Information System (INIS)

    2008-01-01

    1 - Description of program or function: RIMACS prepares for automatic inspection files on each inspection item for the reactor. These automatic inspection files provide the data to move RIROB (Reactor Inspection Robot) with laser by interpreting the coordinates of LASPO (Laser Positioner) and the laser detecting device of RIROB in three dimensional space. In addition, when RIROB arrives at the inspecting location, the files provide all values of the manipulator's motions to acquire the ultrasonic data. RIMACS provides various modules in order to perform these complex functions, and the functions are programmed on graphic user interface for the convenience of the user. RIMACS provides various functions, such as insertion of reactor production data, selection of the reactor for inspection, the creation of automatic inspection file, the selection of the inspection item, inspection simulation, and automatic inspection procedures. It also provides all other functions, which are necessary for the inspection, such as operating program download and manual control of LASPO and RIROB, the inspection simulation and the inspection status display by means of the graphic screen, and SODAS (ultra-Sonic Data Acquisition System) drive verification. 2 - Methods: Moving path and operation procedures for inspection robot are generated automatically with Kinematics algorithm. 3 - Restrictions on the complexity of the problem: A graphics display with MS-Window capability is required

  6. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

    Full Text Available The first part of the paper covers aspects concerning in pipe robots and their components, such as hybrid locomotion systems and the adapting mechanisms used. The second part describes the inspection robot that was developed, which combines tracked and wheeled locomotion (hybrid locomotion. The end of the paper presents the advantages and disadvantages of the proposed robot.

  7. Report of the Committee on the Survey of Hull Bottom of Nuclear Ship Mutsu

    International Nuclear Information System (INIS)

    1979-01-01

    The nuclear ship Mutsu arrived the Sasebo Shipyard, Sasebo Heavy Industries Co., Ltd., in October, 1978, to repair the shielding for the reactor and to inspect generally the safety. The docking works were not carried out since 1972 for the Mutsu, therefore it was decided to admit the Mutsu in a dock to put the hull in order. To prepare for starting the output test again, it is necessary to grasp the state of the hull part below water line and take appropriate measures as occasions demand, therefore the Japan Nuclear Ship Development Agency established the Committee on the Survey of Hull Bottom of Nuclear Ship Mutsu in July, 1979. Three meetings of the committee were held from July 2 to September 19, and the draft of the report was drawn up. The Mutsu entered No. 5 dock of the Sasebo Shipyard on July 9, and left on July 23, and the survey of the hull bottom was carried out during that period. The results of the survey are reported as follows: the state of bottom shell plates, the state of aft part and the propeller, the state of sea chests, the state of the electrical corrosion protection of bottom shell plates and the state of sea valves. The problem to be specially mentioned was not found, and it was recognized that the sound maintenance has been carried out. (Kako, I.)

  8. PIPEBOT: a mobile system for duct inspection

    Energy Technology Data Exchange (ETDEWEB)

    Estrada, Emanuel; Goncalves, Eder Mateus; Botelho, Silvia; Oliveira, Vinicius; Souto Junior, Humberto; Almeida, Renan de; Mello Junior, Claudio; Santos, Thiago [Universidade Federal do Rio Grande (FURG), RS (Brazil); Gulles, Roger [Universidade Tecnologica Federal do Parana (UTFPR), Curitiba, PR (Brazil)

    2009-07-01

    In this paper, it is presented the development of an innovative and low-cost robotic mobile system to be employed in inspection of pipes. The system is composed of a robot with different sensors which permit to move inside pipes and detect faults as well as incipient faults. The robot is a semiautonomous one, i.e. it can navigate by human tele operation or autonomously one. The autonomous mode uses computer vision techniques and signals from position sensor of the robot to navigating and localizing it. It is showed the mechanical structure of the robot, the overall architecture of the system and preliminary results. (author)

  9. ACEC: remote inspection, remote intervention, autonomous vehicle

    International Nuclear Information System (INIS)

    Anon.

    1986-01-01

    Early in 1979, the accident at the TMI-2 nuclear power station focused attention on the lack of inspection and intervention means in containments where high radiation levels do not allow the entrance of humans. Recent years have seen a trend towards significant developments in the application of robotic technology to maintenance and inspection in nuclear facilities. This paper presents the general development concept and the technical specifications of a mobile robot [fr

  10. System for leaks inspection in a nuclear plant by means of a mobile robot; Sistema para inspeccion de fugas en una planta nuclear por medio de un robot movil

    Energy Technology Data Exchange (ETDEWEB)

    Ramirez S, R.; Segovia de los Rios, J.A. [ININ, Km. 36.5 Carretera Mexico-Toluca, Salazar, Edo. de Mexico (Mexico)]. E-mail: ramses@nuclear.inin.mx

    2004-07-01

    In this work a supervision system that could allow to carry out the detection of leaks of vapor in pipe lines, using a mobile robot Pioneer 2 -D Xe, which is controlled by means of an external micro controller 68HC912B32 programmed in Forth and using diffuse control to travel a road by means of the one to follow one lines painted in the floor is described. The robot takes in his superior part, a thermographic camera that allows to determine if leaks of vapor exist in pipes and a dosemeter to measure the present radiation levels in the place, besides a video camera. This way, the personnel, can make sure of having a propitious situation to make the maintenance of the facilities. (Author)

  11. Proceedings of '85 International conference on advanced robotics

    Energy Technology Data Exchange (ETDEWEB)

    1985-01-01

    In these proceedings on advanced robotics four contributions are recorded devoted to the application of robotics in remote handling equipment for interior maintenance and inspection of nuclear power plants. refs.; figs.; tabs.

  12. Region-of-interest volumetric visual hull refinement

    KAUST Repository

    Knoblauch, Daniel; Kuester, Falko

    2010-01-01

    This paper introduces a region-of-interest visual hull refinement technique, based on flexible voxel grids for volumetric visual hull reconstructions. Region-of-interest refinement is based on a multipass process, beginning with a focussed visual

  13. Pyrotechnic robot - constructive design and command

    Directory of Open Access Journals (Sweden)

    Ionel A. Staretu

    2013-10-01

    Full Text Available Pyrotechnic robots are service robots used to reduce the time for intervention of pyrotechnic troops and to diminish the danger for the operators. Pyrotechnic robots are used to inspect dangerous areas or/and to remove and to distroy explosive or suspicious devices/objects. These robots can be used to make corridors through mined battle fields, for manipulation and neutralization of unexploded ammunition, for inspection of vehicles, trains, airplanes and buildings. For these robots, a good functional activity is determined with regard to work space dimensions,, robotic arm kinematics and gripper characteristics. The paper shows the structural, kinematic, static synthesis and analysis as well as the design and functional simulation of the robotic arm and the grippers attached on the pyrotechnic robot designed by the authors.

  14. Management of cladding hulls and fuel hardware

    International Nuclear Information System (INIS)

    1985-01-01

    The reprocessing of spent fuel from power reactors based on chop-leach technology produces a solid waste product of cladding hulls and other metallic residues. This report describes the current situation in the management of fuel cladding hulls and hardware. Information is presented on the material composition of such waste together with the heating effects due to neutron-induced activation products and fuel contamination. As no country has established a final disposal route and the corresponding repository, this report also discusses possible disposal routes and various disposal options under consideration at present

  15. Obtaining high purity silica from rice hulls

    Directory of Open Access Journals (Sweden)

    José da Silva Júnior

    2010-01-01

    Full Text Available Many routes for extracting silica from rice hulls are based on direct calcining. These methods, though, often produce silica contaminated with inorganic impurities. This work presents the study of a strategy for obtaining silica from rice hulls with a purity level adequate for applications in electronics. The technique is based on two leaching steps, using respectively aqua regia and Piranha solutions, which extract the organic matrix and inorganic impurities. The material was characterized by Fourier-transform infrared spectroscopy (FTIR, powder x-ray diffraction (XRD, x-ray fluorescence (XRF, scanning electron microscopy (SEM, particle size analysis by laser diffraction (LPSA and thermal analysis.

  16. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

    This paper considers the use of tele-operated robots in live performance. Robots and performance have long been linked, from the working androids and automata staged in popular exhibitions during the nineteenth century and the robots featured at Cybernetic Serendipity (1968) and the World Expo...

  17. 46 CFR 169.231 - Definitions relating to hull examinations.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Definitions relating to hull examinations. 169.231... hull examinations. As used in the part— (a) Drydock examination means hauling out a vessel or placing a... and all through-hull fittings, sea chests, sea valves, sea strainers, and valves for the emergency...

  18. 33 CFR 181.25 - Hull identification number format.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Hull identification number format... (CONTINUED) BOATING SAFETY MANUFACTURER REQUIREMENTS Identification of Boats § 181.25 Hull identification number format. Each of the hull identification numbers required by § 181.23 must consist of twelve...

  19. 46 CFR 45.107 - Strength of hull.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Strength of hull. 45.107 Section 45.107 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) LOAD LINES GREAT LAKES LOAD LINES Conditions of Assignment § 45.107 Strength of hull. The general structural strength of the hull must be sufficient for the...

  20. 46 CFR 154.170 - Outer hull steel plating.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Outer hull steel plating. 154.170 Section 154.170... STANDARDS FOR SELF-PROPELLED VESSELS CARRYING BULK LIQUEFIED GASES Design, Construction and Equipment Hull Structure § 154.170 Outer hull steel plating. (a) Except as required in paragraph (b) of this section, the...

  1. 46 CFR 154.516 - Piping: Hull protection.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Piping: Hull protection. 154.516 Section 154.516 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) CERTAIN BULK DANGEROUS CARGOES SAFETY... and Process Piping Systems § 154.516 Piping: Hull protection. A vessel's hull must be protected from...

  2. 33 CFR 181.29 - Hull identification number display.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Hull identification number... SECURITY (CONTINUED) BOATING SAFETY MANUFACTURER REQUIREMENTS Identification of Boats § 181.29 Hull identification number display. Two identical hull identification numbers are required to be displayed on each...

  3. 46 CFR 71.50-29 - Hull examination reports.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false Hull examination reports. 71.50-29 Section 71.50-29... CERTIFICATION Drydocking § 71.50-29 Hull examination reports. (a) If you use only divers for the underwater survey portion of the Alternative Hull Examination (AHE), you must provide the Officer in Charge, Marine...

  4. 46 CFR 154.172 - Contiguous steel hull structure.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Contiguous steel hull structure. 154.172 Section 154.172... STANDARDS FOR SELF-PROPELLED VESSELS CARRYING BULK LIQUEFIED GASES Design, Construction and Equipment Hull Structure § 154.172 Contiguous steel hull structure. (a) Except as allowed in paragraphs (b) and (c) of this...

  5. 46 CFR 111.05-11 - Hull return.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hull return. 111.05-11 Section 111.05-11 Shipping COAST... REQUIREMENTS Equipment Ground, Ground Detection, and Grounded Systems § 111.05-11 Hull return. (a) A vessel's hull must not carry current as a conductor except for the following systems: (1) Impressed current...

  6. 46 CFR 252.33 - Hull and machinery insurance.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 8 2010-10-01 2010-10-01 false Hull and machinery insurance. 252.33 Section 252.33... Subsidy Rates § 252.33 Hull and machinery insurance. (a) Subsidy items. The fair and reasonable net premium costs (including stamp taxes) of hull and machinery, increased value, excess general average...

  7. 33 CFR 181.23 - Hull identification numbers required.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Hull identification numbers... SECURITY (CONTINUED) BOATING SAFETY MANUFACTURER REQUIREMENTS Identification of Boats § 181.23 Hull... identify each boat produced or imported with two hull identification numbers that meet the requirements of...

  8. 46 CFR 308.107 - War risk hull insurance policy.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 8 2010-10-01 2010-10-01 false War risk hull insurance policy. 308.107 Section 308.107 Shipping MARITIME ADMINISTRATION, DEPARTMENT OF TRANSPORTATION EMERGENCY OPERATIONS WAR RISK INSURANCE War Risk Hull and Disbursements Insurance § 308.107 War risk hull insurance policy. Standard Form MA-240...

  9. 46 CFR 282.23 - Hull and machinery insurance.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 8 2010-10-01 2010-10-01 false Hull and machinery insurance. 282.23 Section 282.23... COMMERCE OF THE UNITED STATES Calculation of Subsidy Rates § 282.23 Hull and machinery insurance. (a) Subsidy items. The fair and reasonable net premium costs (including stamp taxes) of hull and machinery...

  10. Advanced robotics for decontamination and dismantlement

    International Nuclear Information System (INIS)

    Hamel, W.R.; Haley, D.C.

    1994-01-01

    The decontamination and dismantlement (D ampersand D) robotics technology application area of the US Department of Energy's Robotics Technology Development Program is explained and described. D ampersand D robotic systems show real promise for the reduction of human exposure to hazards, for improvement of productivity, and for the reduction of secondary waste generation. Current research and development pertaining to automated floor characterization, robotic equipment removal, and special inspection is summarized. Future research directions for these and emerging activities is given

  11. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

    Full Text Available In the development of mobile robotic systems, a robotic architecture plays a crucial role in interconnecting all the sub-systems and controlling the system. The design of robotic architectures for mobile autonomous robots is a challenging...

  12. RANS simulation of cavitation and hull pressure fluctuation for marine propeller operating behind-hull condition

    Science.gov (United States)

    Paik, Kwang-Jun; Park, Hyung-Gil; Seo, Jongsoo

    2013-12-01

    Simulations of cavitation flow and hull pressure fluctuation for a marine propeller operating behind a hull using the unsteady Reynolds-Averaged Navier-Stokes equations (RANS) are presented. A full hull body submerged under the free surface is modeled in the computational domain to simulate directly the wake field of the ship at the propeller plane. Simulations are performed in design and ballast draught conditions to study the effect of cavitation number. And two propellers with slightly different geometry are simulated to validate the detectability of the numerical simulation. All simulations are performed using a commercial CFD software FLUENT. Cavitation patterns of the simulations show good agreement with the experimental results carried out in Samsung CAvitation Tunnel (SCAT). The simulation results for the hull pressure fluctuation induced by a propeller are also compared with the experimental results showing good agreement in the tendency and amplitude, especially, for the first blade frequency.

  13. RANS simulation of cavitation and hull pressure fluctuation for marine propeller operating behind-hull condition

    Directory of Open Access Journals (Sweden)

    Kwang-Jun Paik

    2013-12-01

    Full Text Available Simulations of cavitation flow and hull pressure fluctuation for a marine propeller operating behind a hull using the unsteady Reynolds-Averaged Navier-Stokes equations (RANS are presented. A full hull body submerged under the free surface is modeled in the computational domain to simulate directly the wake field of the ship at the propeller plane. Simulations are performed in design and ballast draught conditions to study the effect of cavitation number. And two propellers with slightly different geometry are simulated to validate the detectability of the numerical simulation. All simulations are performed using a commercial CFD software FLUENT. Cavitation patterns of the simulations show good agreement with the experimental results carried out in Samsung CAvitation Tunnel (SCAT. The simulation results for the hull pressure fluctuation induced by a propeller are also compared with the experimental results showing good agreement in the tendency and amplitude, especially, for the first blade frequency.

  14. Machine vision system for remote inspection in hazardous environments

    International Nuclear Information System (INIS)

    Mukherjee, J.K.; Krishna, K.Y.V.; Wadnerkar, A.

    2011-01-01

    Visual Inspection of radioactive components need remote inspection systems for human safety and equipment (CCD imagers) protection from radiation. Elaborate view transport optics is required to deliver images at safe areas while maintaining fidelity of image data. Automation of the system requires robots to operate such equipment. A robotized periscope has been developed to meet the challenge of remote safe viewing and vision based inspection. (author)

  15. Ultimate Strength of Ship Hulls under Torsion

    DEFF Research Database (Denmark)

    Paik, Jeom Kee; Thayamballi, Anil K.; Pedersen, Preben Terndrup

    2001-01-01

    For a ship hull with large deck openings such as container vessels and some large bulk carriers, the analysis of warping stresses and hatch opening deformations is an essential part of ship structural analyses. It is thus of importance to better understand the ultimate torsional strength characte......For a ship hull with large deck openings such as container vessels and some large bulk carriers, the analysis of warping stresses and hatch opening deformations is an essential part of ship structural analyses. It is thus of importance to better understand the ultimate torsional strength...... characteristics of ships with large hatch openings. The primary aim of the present study is to investigate the ultimate strength characteristics of ship hulls with large hatch openings under torsion. Axial (warping) as well as shear stresses are normally developed for thin-walled beams with open cross sections...... subjected to torsion. A procedure for calculating these stresses is briefly described. As an illustrative example, the distribution and magnitude of warping and shear stresses for a typical container vessel hull cross section under unit torsion is calculated by the procedure. By theoretical and numerical...

  16. Rhythmical Alchemy: Village Drumming with Arthur Hull.

    Science.gov (United States)

    Hillerson, Gary R.; Hull, Arthur

    As a step toward writing a master's thesis in psychology, the connection between rhythm circles and psychotherapeutic process was explored. Arthur Hull, who experienced and preached about the healing power of rhythm for many years, was interviewed. This article recorded the interview between Arthur and the researcher. The interviewer learned that…

  17. "Keisri hull" on viimast korda laval

    Index Scriptorium Estoniae

    2010-01-01

    Neli hooaega Ugala repertuaaris olnud Jaan Krossi romaani põhjal lavastatud draama "Keisri hull" etendub viimast korda 10. veebruaril. Viimane etendus on pühendatud Jaan Krossi 90. sünniaastapäevale, mis on 19. veebruaril. Lavastajad Peeter Tammearu ja Jaak Allik. Peaosas Peeter Tammearu

  18. Committee VI.1. Extreme Hull Girder Loading

    DEFF Research Database (Denmark)

    Jensen, Jørgen Juncher

    2000-01-01

    Committee Mandate. Evaluate and develop direct calculation procedures for extreme wawe loads on ship hull girders. Due consideration shall be given to stochastic and non-linear effects. The procedures shall be assessed by comparison with in-service experiences, model tests and more refined...

  19. Convex Hull Aided Registration Method (CHARM).

    Science.gov (United States)

    Fan, Jingfan; Yang, Jian; Zhao, Yitian; Ai, Danni; Liu, Yonghuai; Wang, Ge; Wang, Yongtian

    2017-09-01

    Non-rigid registration finds many applications such as photogrammetry, motion tracking, model retrieval, and object recognition. In this paper we propose a novel convex hull aided registration method (CHARM) to match two point sets subject to a non-rigid transformation. First, two convex hulls are extracted from the source and target respectively. Then, all points of the point sets are projected onto the reference plane through each triangular facet of the hulls. From these projections, invariant features are extracted and matched optimally. The matched feature point pairs are mapped back onto the triangular facets of the convex hulls to remove outliers that are outside any relevant triangular facet. The rigid transformation from the source to the target is robustly estimated by the random sample consensus (RANSAC) scheme through minimizing the distance between the matched feature point pairs. Finally, these feature points are utilized as the control points to achieve non-rigid deformation in the form of thin-plate spline of the entire source point set towards the target one. The experimental results based on both synthetic and real data show that the proposed algorithm outperforms several state-of-the-art ones with respect to sampling, rotational angle, and data noise. In addition, the proposed CHARM algorithm also shows higher computational efficiency compared to these methods.

  20. Inspection Database

    Data.gov (United States)

    U.S. Department of Health & Human Services — FDA is disclosing the final inspection classification for inspections related to currently marketed FDA-regulated products. The disclosure of this information is not...

  1. Estimation of penetration depth of fission products in cladding Hull

    International Nuclear Information System (INIS)

    Kim, Hee Moon; Jung, Yang Hong; Yoo, Byong Ok; Choo, Yong Sun; Hong, Kwon Pyo

    2005-01-01

    A disposal and a reprocessing for spent fuel rod with high burnup need de-cladding procedure. Pellet in this rod has been separated from a cladding hull to reduce a radioactivity of hull by chemical and mechanical methods. But fission products and actinides(U,Pu) still remain inside of cladding hull by chemical bonding and fission spike, which is called as 'contamination'. More specific removal of this contamination would have been considered. In this study, the sorts of fission products and penetration depth in hull were observed by EPMA test. To analyze this behavior, SRIM 2000 code was also used as energies of fission products and an oxide thickness of hull

  2. An Aerial Robot for Rice Farm Quality Inspection With Type-2 Fuzzy Neural Networks Tuned by Particle Swarm Optimization-Sliding Mode Control Hybrid Algorithm

    DEFF Research Database (Denmark)

    Camci, Efe; Kripalan, Devesh Raju; Ma, Linlu

    2017-01-01

    , an autonomous quality inspection over rice farms is proposed by employing quadcopters. Real-time control of these vehicles, however, is still challenging as they exhibit highly nonlinear behavior especially for agile maneuvers. What is more, these vehicles have to operate under uncertain working conditions...... particle swarm optimization-sliding mode control (PSO-SMC) theory-based hybrid algorithm is proposed for the training of T2-FNNs. In particular, continuous version of PSO is adopted for the identification of the antecedent part of T2-FNNs while SMCbased update rules are utilized for online learning...

  3. Motions and Hull-Induced Bridging-Structure Loads for a Small Waterplane Area, Twin-Hulled, Attack Aircraft Carrier in Waves

    National Research Council Canada - National Science Library

    Jones, Harry D; Gerzina, David M

    1973-01-01

    ... small waterplane area, twin-hulled, attack aircraft carrier in waves. Motions of the model were measured, together with the forces and moments induced by the hulls on the cross structure spanning the two hulls...

  4. 241-AY-102 Leak Detection Pit Drain Line Inspection Report

    International Nuclear Information System (INIS)

    Boomer, Kayle D.; Engeman, Jason K.; Gunter, Jason R.; Joslyn, Cameron C.; Vazquez, Brandon J.; Venetz, Theodore J.; Garfield, John S.

    2014-01-01

    This document provides a description of the design components, operational approach, and results from the Tank AY-102 leak detection pit drain piping visual inspection. To perform this inspection a custom robotic crawler with a deployment device was designed, built, and operated by IHI Southwest Technologies, Inc. for WRPS to inspect the 6-inch leak detection pit drain line

  5. An Articulated Inspection Arm for fusion purposes

    International Nuclear Information System (INIS)

    Villedieu, E.; Bruno, V.; Pastor, P.; Gargiulo, L.; Song, Y.T.; Cheng, Y.; Feng, H.; Liu, C.; Shi, S.S.

    2016-01-01

    Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

  6. An Articulated Inspection Arm for fusion purposes

    Energy Technology Data Exchange (ETDEWEB)

    Villedieu, E., E-mail: eric.villedieu@cea.fr [CEA-IRFM, 13108 Saint Paul lez Durance (France); Bruno, V.; Pastor, P.; Gargiulo, L. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Song, Y.T.; Cheng, Y.; Feng, H. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Liu, C. [CEA-IRFM, 13108 Saint Paul lez Durance (France); Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China); Shi, S.S. [Institute of Plasma Physics, Chinese Academy of Sciences, Hefei (China)

    2016-11-01

    Highlights: • Requirements for in vacuum tokamak inspection are presented. • Development of a prototype of the Articulated Inspection Arm is described. • The upgrade of the prototype to convert it into a fully operational device is detailed. • Future applications of inspection robots in the new fusion reactors is discussed. - Abstract: Fusion Tokamaks are complex machines which require special conditions for their operation, in particular, high vacuum inside the vessel and high temperature of the vessel walls. During plasma phases, the first wall components are highly stressed and a control is necessary in case of doubt about their condition. To be able to make safely such an inspection in a short period of time is a great advantage. The Articulated Inspection Arm (AIA) developed by the CEA provides the capability for fast inspections of the first wall overall surface keeping the vacuum and temperature conditions of the vessel. The robot prototype was validated in Tore Supra in 2008. In the frame of a joint laboratory, CEA/IRFM and ASIPP have decided to upgrade the existing AIA prototype to use it routinely in the EAST and WEST tokamaks. The robot has followed an important upgrade program in 2013 and 2014. The document presents the various upgrades made on the mechanics, the sensors, the electronics, the control station and the integration adaptation for the operation on EAST. From the AIA experience, thoughts for future inspection robots are given.

  7. Inspection planning

    International Nuclear Information System (INIS)

    Korosec, D.; Levstek, M.F.

    2001-01-01

    Slovenian Nuclear Safety Administration (SNSA) division of nuclear and radiological safety inspection has developed systematic approach to their inspections. To be efficient in their efforts regarding regular and other types of inspections, in past years, the inspection plan has been developed. It is yearly based and organized on a such systematic way, that all areas of nuclear safety important activities of the licensee are covered. The inspection plan assures appropriate preparation for conducting the inspections, allows the overview of the progress regarding the areas to be covered during the year. Depending on the licensee activities and nature of facility (nuclear power plant, research reactor, radioactive waste storage, others), the plan has different levels of intensity of inspections and also their frequency. One of the basic approaches of the plan is to cover all nuclear and radiological important activities on such way, that all regulatory requests are fulfilled. In addition, the inspection plan is a good tool to improve inspection effectiveness based on previous experience and allows to have the oversight of the current status of fulfillment of planned inspections. Future improvement of the plan is necessary in the light of newest achievements on this field in the nuclear world, that means, new types of inspections are planned and will be incorporated into plan in next year.(author)

  8. DECONTAMINATION OF ZIRCALOY SPENT FUEL CLADDING HULLS

    International Nuclear Information System (INIS)

    Rudisill, T; John Mickalonis, J

    2006-01-01

    The reprocessing of commercial spent nuclear fuel (SNF) generates a Zircaloy cladding hull waste which requires disposal as a high level waste in the geologic repository. The hulls are primarily contaminated with fission products and actinides from the fuel. During fuel irradiation, these contaminants are deposited in a thin layer of zirconium oxide (ZrO 2 ) which forms on the cladding surface at the elevated temperatures present in a nuclear reactor. Therefore, if the hulls are treated to remove the ZrO 2 layer, a majority of the contamination will be removed and the hulls could potentially meet acceptance criteria for disposal as a low level waste (LLW). Discard of the hulls as a LLW would result in significant savings due to the high costs associated with geologic disposal. To assess the feasibility of decontaminating spent fuel cladding hulls, two treatment processes developed for dissolving fuels containing zirconium (Zr) metal or alloys were evaluated. Small-scale dissolution experiments were performed using the ZIRFLEX process which employs a boiling ammonium fluoride (NH 4 F)/ammonium nitrate (NH 4 NO 3 ) solution to dissolve Zr or Zircaloy cladding and a hydrofluoric acid (HF) process developed for complete dissolution of Zr-containing fuels. The feasibility experiments were performed using Zircaloy-4 metal coupons which were electrochemically oxidized to produce a thin ZrO 2 layer on the surface. Once the oxide layer was in place, the ease of removing the layer using methods based on the two processes was evaluated. The ZIRFLEX and HF dissolution processes were both successful in removing a 0.2 mm (thick) oxide layer from Zircaloy-4 coupons. Although the ZIRFLEX process was effective in removing the oxide layer, two potential shortcomings were identified. The formation of ammonium hexafluorozirconate ((NH 4 ) 2 ZrF 6 ) on the metal surface prior to dissolution in the bulk solution could hinder the decontamination process by obstructing the removal of

  9. A Decentralized Interactive Architecture for Aerial and Ground Mobile Robots Cooperation

    OpenAIRE

    Harik, El Houssein Chouaib; Guérin, François; Guinand, Frédéric; Brethé, Jean-François; Pelvillain, Hervé

    2014-01-01

    International audience; —This paper presents a novel decentralized interactive architecture for aerial and ground mobile robots cooperation. The aerial mobile robot is used to provide a global coverage during an area inspection, while the ground mobile robot is used to provide a local coverage of ground features. We include a human-in-the-loop to provide waypoints for the ground mobile robot to progress safely in the inspected area. The aerial mobile robot follows continuously the ground mobi...

  10. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  11. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

    This book deals with robot engineering, giving descriptions of robot's history, current tendency of robot field, work and characteristic of industrial robot, essential merit and vector, application of matrix, analysis of basic vector, expression of Denavit-Hartenberg, robot kinematics such as forward kinematics, inverse kinematics, cases of MATLAB program, and motion kinematics, robot kinetics like moment of inertia, centrifugal force and coriolis power, and Euler-Lagrangian equation course plan, SIMULINK position control of robots.

  12. European single-hull regulation in force

    Energy Technology Data Exchange (ETDEWEB)

    Rogers, Michael

    2004-07-01

    The European Union (EU)has decided that from 21 October 2003 no single-hull tanker carrying heavy grades of oil will be permitted to enter or leave ports or offshore installations or anchor in areas under the jurisdiction of the EU member states. Some of the provisions of the EU regulation will not be in force until 2010. The article looks back on what has led up to to the current regulations, beginning with the Titanic disaster of 1914.

  13. The Causes of Boat Hull Blisters

    Science.gov (United States)

    1987-05-01

    blistering. The report is divided into the following sections: Introduction; How Blisters Form; the Hull Material; Manufacturing Processes; Water Diffusion...Term Effects of Water Up-Takeo " The much more detailed and highly technical report of thia-Vsrk is entitled "The Causes of Blistering in Boat Building...Chemical Engineering, ably assisted by several graduate students, and was completed in the fall of 1986. The report itself, d List-ribution/_ Availabilit

  14. 46 CFR 32.75-5 - Hull requirements; general-TB/ALL.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 1 2010-10-01 2010-10-01 false Hull requirements; general-TB/ALL. 32.75-5 Section 32.75..., AND HULL REQUIREMENTS Hull Requirements for Wood Hull Tank Vessels Constructed Prior to November 10, 1936 § 32.75-5 Hull requirements; general—TB/ALL. The scantlings, material, and workmanship, and the...

  15. 46 CFR 32.70-5 - Hull requirements; general-TB/ALL.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 1 2010-10-01 2010-10-01 false Hull requirements; general-TB/ALL. 32.70-5 Section 32.70..., AND HULL REQUIREMENTS Hull Requirements for Steel Hull Tank Vessels Constructed Prior to November 10, 1936 § 32.70-5 Hull requirements; general—TB/ALL. The scantlings, material, and workmanship, the...

  16. Inspection vehicle

    International Nuclear Information System (INIS)

    Takahashi, Masaki; Omote, Tatsuyuki; Yoneya, Yutaka; Tanaka, Keiji; Waki, Tetsuro; Yoshida, Tomiji; Kido, Tsuyoshi.

    1993-01-01

    An inspection vehicle comprises a small-sized battery directly connected with a power motor or a direct power source from trolly lines and a switching circuit operated by external signals. The switch judges advance or retreat by two kinds of signals and the inspection vehicle is recovered by self-running. In order to recover the abnormally stopped inspection vehicle to the targeted place, the inspection vehicle is made in a free-running state by using a clutch mechanism and is pushed by an other vehicle. (T.M.)

  17. A study on autonomous maintenance robot, 7

    International Nuclear Information System (INIS)

    Fukuda, Toshio; Hosokai, Hidemi; Shimasaka, Naoki; Kaneshige, Masanori; Iwasaki, Shinnosuke.

    1990-01-01

    This paper deals with the new mechanism of a new maintenance robot, Mark IV, following the previous reports on pipeline inspection and maintenance robots of Mark I, II, and III. The Mark IV has a mechanism capable of inspecting surfaces of storage tanks as well as pipeline outer surfaces, which is another capability of the maintenance robots, different from the previous ones. The main features of Mark IV are as follows, (i) The robot has a multijoint structure, so that it has better adaptability to the curvartures of pipelines and storage tanks. (ii) The joint of the robot has SMA actuators to make the robot lighter in weight. Some actuator shape characteristics are also examined for the robot structure and control. (iii) The robot has suckers at both ends so that the robot can climb up along the wall from the ground. (iv) A robot with the inch worm mechanisms has many functional motions, such that it can pass over flanges and T-joints, and transfer to adjacent pipelines with a wider range of pipe diameters. (v) A control method is given for the mobile motion control. Thus, the functional level of the maintenance robot has been greatly improved by the introduction of the Mark IV robot. (author)

  18. Amooty, a stair climbing intelligent maintenance robot

    International Nuclear Information System (INIS)

    Anon.

    1985-01-01

    Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants. (author)

  19. Amooty, a stair climbing intelligent maintenance robot

    Energy Technology Data Exchange (ETDEWEB)

    1985-04-01

    Toshiba Corporation and a team from Tokyo University have jointly developed a prototype of a mobile, stair climbing intelligent robot, named Amooty, for inspection and maintenance tasks in nuclear power plants.

  20. Wave induced extreme hull girder loads on containerships

    DEFF Research Database (Denmark)

    Jensen, Jørgen Juncher; Pedersen, Preben Terndrup; Shi, Bill

    2009-01-01

    This paper provides simple but rational procedures for prediction of extreme wave – induced sectional hull girder forces with reasonable engineering accuracy. The procedures take into account main ship hull characteristics such as: length, breadth, draught, block coefficient, bow flare coefficient......, forward speed and hull flexibility. The vertical hull girder loads are evaluated for specific operational profiles. Firstly a quadratic strip theory is presented which can give separate predictions for the hogging and sagging bending moments and shear forces and for hull girder loads. Then this procedure...... is based on rational methods it can be applied for novel single hull ship types not presently covered by the rules of the classification societies or to account for specific operational profiles....

  1. Evaluation of Composite-Hull Ships Operating in Arctic Ice

    Science.gov (United States)

    2016-06-01

    COMPOSITE- HULL SHIPS OPERATING IN ARCTIC ICE by Ryan M. Tran June 2016 Thesis Advisor: Young W. Kwon Co-Advisor: Jarema M. Didoszak THIS...Master’s thesis 4. TITLE AND SUBTITLE EVALUATION OF COMPOSITE- HULL SHIPS OPERATING IN ARCTIC ICE 5. FUNDING NUMBERS 6. AUTHOR Ryan M. Tran 7...melting ice caps. Extensive research is thus being conducted to determine the interaction between ice and steel- hulls in anticipation of opening sea

  2. Topology Model of the Flow around a Submarine Hull Form

    Science.gov (United States)

    2015-12-01

    UNCLASSIFIED Topology Model of the Flow around a Submarine Hull Form S.-K. Lee Maritime Division Defence Science and Technology Group DST-Group–TR...3177 ABSTRACT A topology model constructed from surface-streamer visualisation describes the flow around a generic conventional submarine hull form at...pure yaw angles of 0 ◦, 10 ◦ and 18 ◦. The model is used to develop equations for sway-force and yaw-moment coefficients which relate to the hull - form

  3. Effects of Geometry on the Steady Performance of Planing Hulls

    DEFF Research Database (Denmark)

    Wagner, M. K.; Andersen, Poul

    2003-01-01

    A vortex-lattice method is applied to planing hull forms. The geometry of the jet surfaces next to the wetted hull is estimated on the basis of the hull geometry while its sidewise extent has been found numerically applying a non-linear free-surface pressure condition in the jet region. The method...... is applied to practical hull forms with chines spray rails and with varying deadrise over the length of the boat. The deadrise variation has a large influence on lift and drag. For a design situation, where the total lift and centre of effort is given, the influence on the total drag is less due to change...

  4. Rice Hulls as a Renewable Complex Material Resource

    Directory of Open Access Journals (Sweden)

    Irina Glushankova

    2018-05-01

    Full Text Available As a result of rice grain processing, a big amount of waste (up to 20% is produced. It is mainly rice hulls. The main components of rice hulls are cellulose, lignin and mineral ash. The mineral ash quantity in rice hulls varies from 15 up to 20%, by weight of the rice hulls. The mineral ash consists of amorphous silica (opal-type. Due to the high content of silica in rice hulls, the material burns with difficulty under natural conditions, and it is biodegradably destroyed only with difficulty, when composted. Utilization of rice hulls then becomes an ecological problem due to huge rice production and its continuous growth. At the same time, the annual quantity of silica content in rice hulls is comparable with the quantity of amorphous silica produced as a mineral resource. The issue of manufacturing cellular glass silica construction materials from rice hulls as a renewable resource is discussed in this paper. The utilization technology is based on an amorphous silicon oxide with the use of energy from the combustion of the organic component of rice hulls.

  5. Estimation of gamma dose rate from hulls and shield design for the hull transport cask of Fuel Reprocessing Plant (FRP)

    International Nuclear Information System (INIS)

    Chandrasekaran, S.; Rajagopal, V.; Jose, M.T.; Venkatraman, B.

    2012-01-01

    In Fuel Reprocessing Plant (FRP), un-dissolved clad of fuel pins known as hulls are the major sources of high level solid waste. Safe handling, transport and disposal require the estimation of radioactivity as a consequent of gamma dose rate from hulls in fast reactor fuel reprocessing plant in comparison with thermal reactor fuel. Due to long irradiation time and low cooling of spent fuel, the evolution of activation products 51 Cr, 58 Co, 54 Mn and 59 Fe present as impurities in the fuel clad are the major sources of gamma radiation. Gamma dose rate from hull container with hulls from Fuel Sub Assembly (FSA) and Radial Sub Assembly (RSA) of Fuel Reprocessing Plant (FRP) was estimated in order to design the hull transport cask. Shielding computations were done using point kernel code, IGSHIELD. This paper describes the details of source terms, estimation of dose rate and shielding design of hull transport cask in detail. (author)

  6. Snake Robots Modelling, Mechatronics, and Control

    CERN Document Server

    Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy

    2013-01-01

    Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is de...

  7. Ultrasonic inspection

    International Nuclear Information System (INIS)

    Satittada, Gannaga

    1984-01-01

    Ultrasonic inspection is one of the most widely used methods for nondestructive inspection. The beam of high-frequency sound wave, ultrasonic wave, is introduced into the material. It travels through the material with some attendant loss of energy and can be reflected at interfaces. The reflected beam is detected and analyzed. Ultrasonic inspection is used to detect flaws in metal parts as well as in welded, brazed and bonded joints during research work and developing production and service. It is also used to detect and locate porosity, pipe, and flakes. In addition, it can be used for the measurement of metal thickness. Ultrasonic inspection is therefore used for quality control and material inspection in all major industries

  8. Technical note: In situ ruminal starch disappearance kinetics of hull-less barley, hulled barley, and corn grains.

    Science.gov (United States)

    Ferreira, G; Yang, Y; Teets, C L; Brooks, W S; Griffey, C A

    2018-07-01

    The objective of this study was to compare ruminal starch disappearance rates of hull-less barley, hulled barley, and corn grains. Five different genotypes were used for each of the 2 barley types. In addition, each of these genotypes was grown in 2 different locations and years, resulting 10 independent barley samples for each of the 2 barley grain types. Five different genotypes of corn grain were obtained from a commercial seed company. After being ground to pass through a 4-mm screen of a cutter mill, 3.6 g of each grain was placed into a porous bag, which was then incubated in the rumen of 2 ruminally cannulated cows for 0, 4, 8, 12, 24, and 48 h. Corn grains had greater instant ruminal starch disappearances than barley grains (22.4 and 8.2%, respectively). Instant ruminal starch disappearances did not differ between hulled and hull-less barley grains. Ruminal starch fractional disappearance rates were greatest for hulled barley grains, moderate for hull-less barley grains, and lowest for corn grains (15.3, 13.9, and 7.1%/h, respectively). Ruminal starch half-life was shortest for hulled and hull-less barley grains (4.4 h) and longest for corn grains (6.6 h). Ruminal starch half-life did not differ between hulled barley and hull-less barley grains. In conclusion, using a holistic experimental design and statistical analysis, this study showed that starch from hull-less barley grains has a ruminal half-life similar to that of hulled barley grains and shorter than that of corn grains. Copyright © 2018 American Dairy Science Association. Published by Elsevier Inc. All rights reserved.

  9. Usage of industrial robots in nuclear power industry

    International Nuclear Information System (INIS)

    Matsuo, Yoshio; Hamada, Kenjiro

    1982-01-01

    Japan is now at the top level in the world in robot technology.Its application to nuclear power field is one of the most expected. However, their usage spreads over various types of nuclear power plants, their manufacture and operation, and other areas such as fuel reprocessing plants and reactor plant decommissioning. The robots as used for the operation of BWR nuclear power plants, already developed and under development, are described: features in the nuclear-power usage of robots, the robots used currently for automatic fuel exchange, the replacement of control rod drives and in-service inspection; the robots under development for travelling inspection device and the inspection of main steam-relief safety valves, future development of robots. By robot usage, necessary personnel, work period and radiation exposure can be greatly reduced, and safety and reliability are also raised. (Mori, K.)

  10. Aerial service robotics: the AIRobots perspective

    NARCIS (Netherlands)

    Marconi, L.; Basile, F.; Caprari, G.; Carloni, Raffaella; Chiacchio, P.; Hurzeler, C.; Lippiello, V.; Naldi, R.; Siciliano, B.; Stramigioli, Stefano; Zwicker, E.

    This paper presents the main vision and research activities of the ongoing European project AIRobots (Innova- tive Aerial Service Robot for Remote Inspection by Contact, www.airobots.eu). The goal of AIRobots is to develop a new generation of aerial service robots capable of supporting human beings

  11. Underground mining robot: a CSIR project

    CSIR Research Space (South Africa)

    Green, JJ

    2012-11-01

    Full Text Available The Council for Scientific and Industrial Research (CSIR) in South Africa is currently developing a robot for the inspection of the ceiling (hanging-wall) in an underground gold mine. The robot autonomously navigates the 30 meter long by 3 meter...

  12. A trend of robotics in nuclear facilities

    International Nuclear Information System (INIS)

    Nakayama, Ryoichi

    1993-01-01

    In order to operate stably nuclear power stations, the periodic inspection determined by the law has been carried out once every year in Japan. For reducing the radiation exposure of workers and improving work efficiency and work quality, the automation and the use of robots have been promoted. Also in fuel reprocessing plants and the facilities for storing radioactive wastes, the remotely operated devices for handling uranium and plutonium are indispensable. The course of the development of the robots for nuclear power plants classified by ages is shown. The research and development have been advanced from special automatic machines of first generation since 1965, through versatile robots of second generation since 1980 to intellectual robots of third generation since 1985. Automatic fuel exchanger, control rod moving mechanism and the ultrasonic flaw detector for pipings are those of first generation. As those of second generation, various movable inspection robots and the manipulators for them were developed. The ultimate working robot completed in 1990 is that of third generation. As the trend of the practical use, monorail type inspection robots and underwater inspection robots and various manipulators are reported. (K.I.)

  13. Sensor integration for robotic laser welding processes

    NARCIS (Netherlands)

    Iakovou, D.; Aarts, Ronald G.K.M.; Meijer, J.; Ostendorf, A; Hoult, A.; Lu, Y.

    2005-01-01

    The use of robotic laser welding is increasing among industrial applications, because of its ability to weld objects in three dimensions. Robotic laser welding involves three sub-processes: seam detection and tracking, welding process control, and weld seam inspection. Usually, for each sub-process,

  14. The development of fire detection robot

    OpenAIRE

    Sucuoğlu, Hilmi Saygın

    2015-01-01

    The aim of this thesis is to design and manufacture a fire detection robot that especially operates in industrial areas for fire inspection and early detection. Robot is designed and implemented to track prescribed paths with obstacle avoidance function through obstacle avoidance and motion planning units and to scan the environment in order to detect fire source using fire detection unit. Robot is able to track patrolling routes using virtual lines that defined to the motion planning unit. ...

  15. Robotics in near-earth space

    Science.gov (United States)

    Card, Michael E.

    1991-01-01

    The areas of space exploration in which robotic devices will play a part are identified, and progress to date in the space agency plans to acquire this capability is briefly reviewed. Roles and functions on orbit for robotic devices include well known activities, such as inspection and maintenance, assembly, docking, berthing, deployment, retrieval, materials handling, orbital replacement unit exchange, and repairs. Missions that could benefit from a robotic capability are discussed.

  16. In-Water Hull Cleaning & Filtration System

    Science.gov (United States)

    George, Dan

    2015-04-01

    Dan George R & D Mining Technology LinkedIn GRD Franmarine have received the following prestigious awards in 2014 for their research & development of an in-water hull cleaning and filtration system "The Envirocart: Golden Gecko Award for Environmental Excellence; WA Innovator of the Year - Growth Sector; Department of Fisheries - Excellence in Marine Biosecurity Award - Innovation Category; Lloyd's List Asia Awards - Environmental Award; The Australian Innovation Challenge - Environment, Agriculture and Food Category; and Australian Shipping and Maritime Industry Award - Environmental Transport Award. The Envirocart developed and patented by GRD Franmarine is a revolutionary new fully enclosed capture and containment in-water hull cleaning technology. The Envirocart enables soft Silicon based antifouling paints and coatings containing pesticides such as Copper Oxide to be cleaned in situ using a contactless cleaning method. This fully containerised system is now capable of being deployed to remote locations or directly onto a Dive Support Vessel and is rated to offshore specifications. This is the only known method of in-water hull cleaning that complies with the Department of Agriculture Fisheries and Forestry (DAFF) and Department of Fisheries WA (DoF) Guidelines. The primary underwater cleaning tool is a hydraulically powered hull cleaning unit fitted with rotating discs. The discs can be fitted with conventional brushes for glass or epoxy based coatings or a revolutionary new patented blade system which can remove marine biofouling without damaging the antifouling paint (silicone and copper oxide). Additionally there are a patented range of fully enclosed hand cleaning tools for difficult to access niche areas such as anodes and sea chests, providing an innovative total solution that enables in-water cleaning to be conducted in a manner that causes no biological risk to the environment. In full containment mode or when AIS are present, material is pumped

  17. Approximate convex hull of affine iterated function system attractors

    International Nuclear Information System (INIS)

    Mishkinis, Anton; Gentil, Christian; Lanquetin, Sandrine; Sokolov, Dmitry

    2012-01-01

    Highlights: ► We present an iterative algorithm to approximate affine IFS attractor convex hull. ► Elimination of the interior points significantly reduces the complexity. ► To optimize calculations, we merge the convex hull images at each iteration. ► Approximation by ellipses increases speed of convergence to the exact convex hull. ► We present a method of the output convex hull simplification. - Abstract: In this paper, we present an algorithm to construct an approximate convex hull of the attractors of an affine iterated function system (IFS). We construct a sequence of convex hull approximations for any required precision using the self-similarity property of the attractor in order to optimize calculations. Due to the affine properties of IFS transformations, the number of points considered in the construction is reduced. The time complexity of our algorithm is a linear function of the number of iterations and the number of points in the output approximate convex hull. The number of iterations and the execution time increases logarithmically with increasing accuracy. In addition, we introduce a method to simplify the approximate convex hull without loss of accuracy.

  18. 46 CFR 45.143 - Hull openings above freeboard deck.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Hull openings above freeboard deck. 45.143 Section 45.143 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) LOAD LINES GREAT LAKES LOAD LINES Conditions of Assignment § 45.143 Hull openings above freeboard deck. Closures for openings above...

  19. 46 CFR 78.50-5 - Hull markings.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false Hull markings. 78.50-5 Section 78.50-5 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) PASSENGER VESSELS OPERATIONS Markings on Vessels § 78.50-5 Hull markings. Vessels shall be marked as required by parts 67 and 69 of this chapter. [CGD 72...

  20. 46 CFR 196.40-5 - Hull markings.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull markings. 196.40-5 Section 196.40-5 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OCEANOGRAPHIC RESEARCH VESSELS OPERATIONS Markings on Vessels § 196.40-5 Hull markings. Vessels shall be marked as required by parts 67 and 69 of this chapter...

  1. Iron-59 absorption from soy hulls: intrinsic vs extrinsic labeling

    International Nuclear Information System (INIS)

    Lykken, G.I.; Mahalko, J.R.; Nielsen, E.J.; Dintzis, F.R.

    1986-01-01

    As part of an evaluation of the validity of the extrinsic labeling technique for measuring iron absorption, absorption from soy hulls extrinsically labeled ( 59 Fe added to bread dough) was compared with that from soy hulls intrinsically labeled ( 59 Fe incorporated into the soy plant during growth). Century soybeans were grown in a greenhouse. After pods had formed and were filling, each plant was stem injected twice, at 3 day intervals, with 22 μCi 59 Fe as FeCl 2 in 25 μl of 0.5 M HCl solution. After the plants had senesced, the soybeans were harvested, dried, shelled and the hulls removed. Standard meals containing 3.5 mg Fe/meal and up to 0.06 μCi 59 Fe in a soy hull bun were fed on 2 consecutive days to free-living volunteers in a crossover design. Absorption of 59 Fe was greater from intrinsically labeled soy hulls than from extrinsically labeled soy hulls, 20 +/- 20% vs 15 +/- 11% (n=14, p > 0.05 by paired t-test). Apparent absorption ranged from 1.3% to 77% from intrinsically labeled soy hulls and .5% to 29% from extrinsically labeled soy hulls with the highest absorption occurring in persons with low serum ferritin (S.F. < 8 ng/ml). These findings provide additional evidence that the extrinsic labeling method is a valid measure of iron bioavailability to humans

  2. 46 CFR 97.40-5 - Hull markings.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hull markings. 97.40-5 Section 97.40-5 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) CARGO AND MISCELLANEOUS VESSELS OPERATIONS Markings on Vessels § 97.40-5 Hull markings. Vessels shall be marked as required by parts 67 and 69 of this...

  3. 46 CFR 174.225 - Hull penetrations and shell connections.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Hull penetrations and shell connections. 174.225 Section 174.225 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) SUBDIVISION AND STABILITY... § 174.225 Hull penetrations and shell connections. Each overboard discharge and shell connection except...

  4. 76 FR 7757 - Hull Identification Numbers for Recreational Vessels

    Science.gov (United States)

    2011-02-11

    ... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Part 181 [Docket No. USCG-2007-29236] Hull Identification Numbers for Recreational Vessels AGENCY: Coast Guard, DHS. ACTION: Follow-up to request for... expanded hull identification number (HIN). The Coast Guard's decision-making process included consideration...

  5. 77 FR 59575 - Hull Identification Numbers for Recreational Vessels

    Science.gov (United States)

    2012-09-28

    ... DEPARTMENT OF HOMELAND SECURITY Coast Guard 33 CFR Part 181 [Docket No. USCG-2012-0843] Hull Identification Numbers for Recreational Vessels AGENCY: Coast Guard, DHS. ACTION: Request for public comments... requirement to indicate a boat's model year as part of the 12-character Hull Identification Number (HIN...

  6. Determination of digestibility of almond hull in sheep | Yalchi ...

    African Journals Online (AJOL)

    Chemical compositions of almond hull and alfalfa hay were determined. The crude protein (CP), neutral detergent fiber (NDF) and acid detergent fiber (ADF) of almond hull were lower than those of alfalfa hay but the non fibrous carbohydrate (NFC) was more than that of alfalfa hay (3.5 times) (P < 0.01). The dry matter ...

  7. Feasibility of Using Rice Hulls as Bedding for Laboratory Mice.

    Science.gov (United States)

    Carbone, Elizabeth T; Kass, Philip H; Evans, Kristin D

    2016-01-01

    Factors that are considered when selecting laboratory mouse bedding include animal health and comfort, cost, effects on personnel, and bioactive properties. Corncob is economical and facilitates low intracage ammonia but has undesirable influences on some endocrine studies. Rice hulls are an economical material that has not been well characterized as a bedding substrate. In this pilot study, we compared various aspects of bedding performance of rice hulls and other materials. On a per-volume basis, rice hulls were less absorbent than was corncob bedding. Rice hulls had higher odds than did corncob or reclaimed wood pulp of having moisture present at the bedding surface. The results of the absorbency tests coupled with the results of preliminary monitoring of intracage ammonia raised concern about the ability of rice hulls to control ammonia levels sufficiently in cages with high occupancy. However, ammonia was negligible when cages contained 5 young adult female mice. The relative expression of 3 cytochrome p450 genes was compared among mice housed on rice hulls, corncob, reclaimed wood pulp, or pine shavings. The expression of Cyp1a2 was 1.7 times higher in the livers of mice housed on rice hulls than on pine shavings, but other differences were not statistically significant. This study provides information on the merits of rice hulls as laboratory mouse bedding. Their relatively poor moisture control is a major disadvantage that might preclude their widespread use.

  8. Hospital Inspections

    Data.gov (United States)

    U.S. Department of Health & Human Services — Welcome to hospitalinspections.org, a website run by the Association of Health Care Journalists (AHCJ) that aims to make federal hospital inspection reports easier...

  9. Evolutionary robotics

    Indian Academy of Sciences (India)

    In evolutionary robotics, a suitable robot control system is developed automatically through evolution due to the interactions between the robot and its environment. It is a complicated task, as the robot and the environment constitute a highly dynamical system. Several methods have been tried by various investigators to ...

  10. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

    This paper considers art-based research practice in robotics through a discussion of our course and relevant research projects in autonomous art. The undergraduate course integrates basic concepts of computer science, robotic art, live performance and aesthetic theory. Through practice...... in robotics research (such as aesthetics, culture and perception), we believe robot aesthetics is an important area for research in contemporary aesthetics....

  11. Filigree Robotics

    DEFF Research Database (Denmark)

    Tamke, Martin; Evers, Henrik Leander; Clausen Nørgaard, Esben

    2016-01-01

    Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture.......Filigree Robotics experiments with the combination of traditional ceramic craft with robotic fabrication in order to generate a new narrative of fine three-dimensional ceramic ornament for architecture....

  12. Experimental Evaluation of the Hydrodynamic Response of Crew Boat Hulls

    DEFF Research Database (Denmark)

    Pecher, Arthur; Kofoed, Jens Peter

    This report presents the results of an experimental study on 3 different hulls of crew boats intended for service to offshore wind turbines. Their hydrodynamic behaviour has been tested in various sea states representing general wave conditions that could be expected at offshore wind farms. Two...... main setups were used during the tests, corresponding to the hulls being connected to an offshore windmill and being free floating. The following aspects were the main subjects of investigation: • The Response Amplitude Operators of the hulls in two different configurations and with waves coming from 3...... different directions. • The connection forces between the hulls and the wind turbine pile. • The natural frequency of oscillation. For the study, realistic scale models of the hulls of the crew boats were supplied by the client, Hauschildt Marine. The laboratory tests were performed by Arthur Pecher under...

  13. Characterisation of the activities associated with fast reactor cladding hulls

    International Nuclear Information System (INIS)

    Biddle, P.; Rees, J.H.

    1987-01-01

    Four batches of hulls from the reprocessing of fuel from the Prototype Fast Reactor at Dounreay have been examined visually and photographically. The appearance of the hulls (shiny or black) depended on the original location in the fuel pin. The total fissile activities measured corresponded to less than 0.1% or the original fuel. The α-emitter, fission product and activation product activities have been determined from dissolution studies. Profile diagrams have been constructed for the distribution of the principal activities along lengths of seventeen hulls. The evidence obtained suggested that much of the activity on the hulls arose through deposition from the dissolver liquors. The deposits included insoluble particulate material which was thought to be responsible for the wide variations in activity across short lengths of some of the hulls. (orig.)

  14. Developing sensor-driven robots for hazardous environments

    International Nuclear Information System (INIS)

    Trivedi, M.M.; Gonzalez, R.C.; Abidi, M.A.

    1987-01-01

    Advancements in robotic technology are sought to provide enhanced personnel safety and reduced costs of operation associated with nuclear power plant manufacture, construction, maintenance, operation, and decommissioning. The authors describe main characteristics of advanced robotic systems for such applications and suggest utilization of sensor-driven robots. Research efforts described in the paper are directed towards developing robotic systems for automatic inspection and manipulation of various tasks associated with a test panel mounted with a variety of switches, controls, displays, meters, and valves

  15. Robotic platform for traveling on vertical piping network

    Science.gov (United States)

    Nance, Thomas A; Vrettos, Nick J; Krementz, Daniel; Marzolf, Athneal D

    2015-02-03

    This invention relates generally to robotic systems and is specifically designed for a robotic system that can navigate vertical pipes within a waste tank or similar environment. The robotic system allows a process for sampling, cleaning, inspecting and removing waste around vertical pipes by supplying a robotic platform that uses the vertical pipes to support and navigate the platform above waste material contained in the tank.

  16. Identification of a novel SPLIT-HULL (SPH) gene associated with hull splitting in rice (Oryza sativa L.).

    Science.gov (United States)

    Lee, Gileung; Lee, Kang-Ie; Lee, Yunjoo; Kim, Backki; Lee, Dongryung; Seo, Jeonghwan; Jang, Su; Chin, Joong Hyoun; Koh, Hee-Jong

    2018-07-01

    The split-hull phenotype caused by reduced lemma width and low lignin content is under control of SPH encoding a type-2 13-lipoxygenase and contributes to high dehulling efficiency. Rice hulls consist of two bract-like structures, the lemma and palea. The hull is an important organ that helps to protect seeds from environmental stress, determines seed shape, and ensures grain filling. Achieving optimal hull size and morphology is beneficial for seed development. We characterized the split-hull (sph) mutant in rice, which exhibits hull splitting in the interlocking part between lemma and palea and/or the folded part of the lemma during the grain filling stage. Morphological and chemical analysis revealed that reduction in the width of the lemma and lignin content of the hull in the sph mutant might be the cause of hull splitting. Genetic analysis indicated that the mutant phenotype was controlled by a single recessive gene, sph (Os04g0447100), which encodes a type-2 13-lipoxygenase. SPH knockout and knockdown transgenic plants displayed the same split-hull phenotype as in the mutant. The sph mutant showed significantly higher linoleic and linolenic acid (substrates of lipoxygenase) contents in spikelets compared to the wild type. It is probably due to the genetic defect of SPH and subsequent decrease in lipoxygenase activity. In dehulling experiment, the sph mutant showed high dehulling efficiency even by a weak tearing force in a dehulling machine. Collectively, the results provide a basis for understanding of the functional role of lipoxygenase in structure and maintenance of hulls, and would facilitate breeding of easy-dehulling rice.

  17. Flaxseed hull: Chemical composition and antioxidant activity during development.

    Science.gov (United States)

    Herchi, Wahid; Al Hujaili, Abdullah D; Sakouhi, Faouzi; Sebei, Khaled; Trabelsi, Hajer; Kallel, Habib; Boukhchina, Sadok

    2014-01-01

    Changes in the chemical composition and antioxidant activity of flaxseed hull during maturation were investigated. P129 hull variety was studied at four maturation stages (St1, St2, St3, and St4). Significant variation in proximate composition and flaxseed hull oil characteristics were observed. A significant increase in the carbohydrates content of the hull was observed during development. The main methyl esters were linolenic acid (48.95 - 51.52 %), oleic acid (20.27-23.41%) and linoleic acid (15.62-17.70%). The highest polyunsaturated fatty acids (PUFA) were found to be 67.14 % at the first stage of maturity (St1). Flaxseed hull oil was of good quality, containing an abundance of omega-3 essential fatty acids. The iodine value increased, while the saponification value of oil decreased during seed development. The decrease in ascorbic acid content was steady. The maximum level of total phenolic acid content (128.3 mg/100 g oil) was reached at 7 DAF. The antioxidant activity of oilseed was assessed by means of 2, 2-diphenyl-1-picrylhydrazyl (DPPH) radical-scavenging assay. Radical scavenging activity for green hull was 52.74% and mature hull was 69.32%.

  18. 14 CFR 23.533 - Hull and main float bottom pressures.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float bottom pressures. 23... Water Loads § 23.533 Hull and main float bottom pressures. (a) General. The hull and main float....00213; K2=hull station weighing factor, in accordance with figure 2 of appendix I of this part; VS1...

  19. 46 CFR 32.63-5 - Barge hull classifications-B/ALL.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 1 2010-10-01 2010-10-01 false Barge hull classifications-B/ALL. 32.63-5 Section 32.63..., AND HULL REQUIREMENTS Hull and Cargo Tank Requirements for Tank Barges Constructed or Converted On or After July 1, 1964, and Carrying Certain Dangerous Bulk Cargoes § 32.63-5 Barge hull classifications—B...

  20. 37 CFR 212.5 - Recordation of distinctive identification of vessel hull designer.

    Science.gov (United States)

    2010-07-01

    ... identification of vessel hull designer. 212.5 Section 212.5 Patents, Trademarks, and Copyrights COPYRIGHT OFFICE, LIBRARY OF CONGRESS COPYRIGHT OFFICE AND PROCEDURES PROTECTION OF VESSEL HULL DESIGNS § 212.5 Recordation of distinctive identification of vessel hull designer. (a) General. Any owner of a vessel hull may...

  1. 14 CFR 29.519 - Hull type rotorcraft: Water-based and amphibian.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull type rotorcraft: Water-based and... § 29.519 Hull type rotorcraft: Water-based and amphibian. (a) General. For hull type rotorcraft, the... along and among the hull and auxiliary floats, if used, in a rational and conservative manner, assuming...

  2. Operational inspections

    International Nuclear Information System (INIS)

    Bystersky, M.

    1997-01-01

    Special equipment is described, designed for inspection of reactor pressure vessels performed from the inside. Central shaft manipulator ZMM-5 is available for crack detection control using ultrasound and eddy currents, for visual check of surfaces, repair works at the reactor pressure vessel, and hardness measurements. The manipulator consists of the manipulator bridge, a cable container, shaft segments, a control mechanism and auxiliary parts. Eight inspections were performed at the Bohunice nuclear power plant and two at the Paks nuclear power plant. (M.D.)

  3. Preparation and characterization of rice hull silica products

    International Nuclear Information System (INIS)

    Quirit, Leni L.; Llaguno, Elma C.; Pagdanganan, Fernando C.; Hernandez, Karen N.

    2008-01-01

    Rice hull is an abundant agricultural waste material which could be a renewable energy source when combusted. The combustion residue (called rice hull ash or RHA) contains a significant amount (20% of the hull) of potentially high grade silica. Silica gels prepared from rice hull were found to have properties comparable to two commercial desiccant silica gels (Blue Merck and FNG-A) in terms of chemical and amorphous structure, surface area, desiccant characteristics, microstructure and heats of adsorption. These properties were determined from water vapor adsorption measurements, electron microscopy, and from infrared and x-ray diffraction spectra. The acid treated rice hull gels were found to have fewer elemental impurities detected by qualitative x-ray fluorescence, compared to the commercial gels. Thermogravimetric analysis (TGA) data showed that this technique can also be used to indirectly compare impurity levels in the samples, in terms of the amorphous to crystalline phase transition. Using an improved acid treatment method, a silica gel sample was prepared from rice hull and compared to three commercial chromatographic silica gels using quantitative elemental x-ray fluorescence analysis. Elemental levels in the rice hull gel were within the range of levels or close to the detection limits of corresponding elements in the chromatographic gels. Water vapor adsorption, x-ray diffraction, infrared spectroscopy and scanning electron microscopy showed that the rice hull gel was similar to the commercial chromatographic silica gel Davison 12. Zeolites are crystalline aluminosilicates used as molecular sieves for purification and catalytic purposes. Zeolites X and Y were synthesized from rice hull silica gel and aluminum hydroxide. For comparison, controls were synthesized from commercial silica gel. The samples and controls exhibited characteristics infrared peaks corresponding to the vibrations of the TO 4 (T=Si, Al) of the zeolite framework. The x

  4. The study on radioactivity reduction of spent PWR cladding hull

    International Nuclear Information System (INIS)

    Jung, I. H.; Kim, J. H.; Park, C. J.; Jung, Y. H.; Song, K. C.; Lee, J. W.; Park, J. J.; Yang, M. S.

    2003-01-01

    Hull arising from the spent PWR fuel elements is classified as a high-level radioactive waste. This report describes the radio-chemical characteristics of the hull-from PWR spent fuel of 32,000MWd/tU burn-up and 15 years cooling, discharged from Gori Unit I cycled 4-7-by examination and literature survey. On the basis of the results, a method of degradation to middle and low-level radioactive waste was proposed by dry process such as laser or plasma technique with removing the nuclides deposited on the surface of the hull

  5. Corn fiber hulls as a food additive or animal feed

    Science.gov (United States)

    Abbas, Charles; Beery, Kyle E.; Cecava, Michael J.; Doane, Perry H.

    2010-12-21

    The present invention provides a novel animal feed or food additive that may be made from thermochemically hydrolyzed, solvent-extracted corn fiber hulls. The animal feed or food additive may be made, for instance, by thermochemically treating corn fiber hulls to hydrolyze and solubilize the hemicellulose and starch present in the corn fiber hulls to oligosaccharides. The residue may be extracted with a solvent to separate the oil from the corn fiber, leaving a solid residue that may be prepared, for instance by aggolmerating, and sold as a food additive or an animal feed.

  6. Automatic weld joint X-ray inspection

    International Nuclear Information System (INIS)

    Richter, H.U.; Linke, D.; Siems, K.D.; Kruse, H.; Schuetze, E.

    1990-01-01

    A gantry mounted robotic x-ray inspection unit has been developed for the series testing of small and medium sized welded components (pipe bends and nozzles). The unit features computer controlled positioning of the x-ray tube and x-ray image amplifier. Image quality classes 2 and even 1 could be achieved without difficulty. (author)

  7. Employing innovative techniques to reduce inspection times

    International Nuclear Information System (INIS)

    Heumueller, R.; Guse, G.; Dirauf, F.; Fischer, E.

    1997-01-01

    Shorter inspection periods mean lower revision costs and less tight revision schedules, but must not detract from the quality of inspection findings. This requirement imposes upon the company performing the inspection the need for top achievements both in quality management and in the use of innovative techniques. Flexible equipment systems and inspection techniques adapted to specific purposes are able to reduce inspection times in many inspection jobs. As part of a complete system designed to reduce inspection times, the new Saphir (Siemens Alok Phased Array Integrated Reliable UT-System) inspection equipment system is the core of most of the recent innovations. Being an integrated inspection equipment system, it is able to handle conventional US probes as well as arrays and phased arrays. It is open for further matching to specific inspection and administrative requirements and developments, and it may be incorporated in the network of an integrated system with a database. A technological leap in probe design in the past few years has allowed controllable wave fields to be generated which are in no way inferior to those of conventional probes with fixed angles of incidence. In this way, a number of inspection techniques can be implemented with a single probe. This reduces inspection times, setup and retooling times, and doses. Typical examples already used in practice are the LLT (longitudinal-longitudinal-transverse waves) technique and the integration of inspections for longitudinal and transverse defects in a single run. In the near future, surfaces with complicated curvatures will be inspected by novel modular robot systems consisting of individual modules of linear axes and rotational axes. (orig.) [de

  8. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic architectural environments to be implemented and tested in the last decade in virtual and physical prototypes. These prototypes are incorporating sensing-actuating

  9. Inspection technology for high pressure pipes

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Jae H.; Lee, Jae C.; Eum, Heung S.; Choi, Yu R.; Moon, Soon S.; Jang, Jong H

    2000-02-01

    Various kinds of defects are likely to be occurred in the welds of high pressure pipes in nuclear power plants. Considering the recent accident of Zuruga nuclear power plant in Japan, reasonable policy is strongly requested for the high pressure pipe integrity. In this study, we developed the technologies to inspect pipe welds automatically. After development of scanning robot prototype in the first research year, we developed and implemented the algorithm of automatic tracking of the scanning robot along the weld line of the pipes. We use laser slit beam on weld area and capture the image using digital camera. Through processing of the captures image, we finally determine the weld line automatically. In addition, we investigated a new technology on micro systems for developing micro scanning robotic inspection of the pipe welds. The technology developed in this study is being transferred to the industry. (author)

  10. Marinization concept for the TRICEPT TR600 robot

    Energy Technology Data Exchange (ETDEWEB)

    Meyer, A.; Aust, E.; Niemann, H.R.; Santos, J.F. dos [GKSS-Forschungszentrum Geesthacht GmbH (Germany). Inst. fuer Materialforschung; Hammerin, R.; Neumann, K.E. [Neos Robotics AB, Taeby (Sweden); Gibson, D. [National Hyperbaric Centre, Aberdeen (United Kingdom)

    1998-11-01

    The need for automated welding repair systems of marine structures, ship hulls and nuclear installations had lead to an increasing demand for subsea robots. Considering the application of friction welding to perform underwater repairs, a TRICEPT TR600 robot has been identified as the most suitable system to withstand the high reaction forces characteristic of this process. This study reviews initially the research and development work carried out at GKSS to modify and test a Siemens-MANUTEC robot. After a description of the TRICEPT TR600 robot a marinization concept is presented and discussed in detail. Problems of galvanic corrosion in seawater are addressed in a separate chapter. The deflection of the robot in subsea water currents is estimated with a worst-case calculation. (orig.) [Deutsch] Der Wunsch, Roboter auch unter Wasser einsetzen zu koennen, waechst mit steigendem Interesse nach automatisierten Schweissverfahren fuer Reparaturen an marinen Bauwerken, Schiffsruempfen und in Kernenergieanlagen. Fuer den Einsatz von Reibschweissverfahren fuer diese Reparaturen wurde der TRICEPT TR600-Roboter ausgewaehlt, da dieser auch den charakteristisch hohen Prozesskraeften widerstehen kann. Die notwendigen Modifikationen und Pruefungen werden beispielhaft anhand des bei der GKSS modifizierten Siemens-MANUTEC-Roboters vorgestellt. Nach einer Beschreibung des TRICEPT-Roboters werden die notwendigen Umbaumassnahmen detailliert dargestellt und diskutiert. Auf die Problematik der galvanischen Korrosion in Seewasser wird in einem gesonderten Kapitel naeher eingegangen. Zusaetzlich wird eine moegliche Ablenkung des Roboters durch Wasserstroemung ueberschlaegig berechnet. (orig.)

  11. In service inspection of superphenix 1 vessels: MIR

    International Nuclear Information System (INIS)

    Asty, M.; Viard, J.; Lerat, B.; Saglio, R.

    1985-02-01

    Presentation of the in-service inspection device, MIR, which has been specially developed for the visual and ultrasonic examination of Super Phenix 1 vessels (surface and internal defects). The inspections take place during fuel handling operations. The inspection device is a robot with a four-wheel drive vehicle which guidance along the welds is achieved by eddy-current devices; visual examination is performed by a television camera and ultrasonic probes are specially resistent to high temperatures

  12. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

    Robots have the potential to be a game changer in healthcare: improving health and well-being, filling care gaps, supporting care givers, and aiding health care workers. However, before robots are able to be widely deployed, it is crucial that both the research and industrial communities work together to establish a strong evidence-base for healthcare robotics, and surmount likely adoption barriers. This article presents a broad contextualization of robots in healthcare by identifying key sta...

  13. A remote inspection system for use inside reactor containment vessels

    International Nuclear Information System (INIS)

    Aoki, Toshihiko; Kashiwai, Jun-ichi; Yamamoto, Ikuo; Fukada, Koichi; Yamanaka, Yoshinobu.

    1985-01-01

    The harsh environment in the reactor-containment vesels of pressurized-water reactor nuclear-power plants precludes the possibility of direct circuit inspection; a remote-inspection system is essential. A robot for performing this task must not only be able to withstand the harsh conditions but must also be small and maneuverable enough to function effectively within complex and confined spaces. The article describes a monorail-type remote-inspection robot developed by Mitsubishi Electric to meet these needs, which is now under trial production and testing. (author)

  14. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

    Robots are mechanical devices that can be programmed to perform some task of manipulation or locomotion under automatic control. This paper discusses: (1) early developments of the robotics industry in the United States; (2) the present structure of the industry; (3) noneconomic factors related to the use of robots; (4) labor considerations…

  15. Visual servo simulation of EAST articulated maintenance arm robot

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Yang, E-mail: yangyang@ipp.ac.cn [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng [Institute of Plasma Physics, Chinese Academy of Sciences, 350 Shushanhu Rd, Hefei, Anhui (China); Wu, Huapeng [Lappeenranta University of Technology, Skinnarilankatu 34, Lappeenranta (Finland)

    2016-03-15

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  16. Visual servo simulation of EAST articulated maintenance arm robot

    International Nuclear Information System (INIS)

    Yang, Yang; Song, Yuntao; Pan, Hongtao; Cheng, Yong; Feng, Hansheng; Wu, Huapeng

    2016-01-01

    For the inspection and light-duty maintenance of the vacuum vessel in the EAST tokamak, a serial robot arm, called EAST articulated maintenance arm, is developed. Due to the 9-m-long cantilever arm, the large flexibility of the EAMA robot introduces a problem in the accurate positioning. This article presents an autonomous robot control to cope with the robot positioning problem, which is a visual servo approach in context of tile grasping for the EAMA robot. In the experiments, the proposed method was implemented in a simulation environment to position and track a target graphite tile with the EAMA robot. As a result, the proposed visual control scheme can successfully drive the EAMA robot to approach and track the target tile until the robot reaches the desired position. Furthermore, the functionality of the simulation software presented in this paper is proved to be suitable for the development of the robotic and computer vision application.

  17. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

    New control techniques for self contained, autonomous free flying space robots were developed and tested experimentally. Free flying robots are envisioned as a key element of any successful long term presence in space. These robots must be capable of performing the assembly, maintenance, and inspection, and repair tasks that currently require human extravehicular activity (EVA). A set of research projects were developed and carried out using lab models of satellite robots and a flexible manipulator. The second generation space robot models use air cushion vehicle (ACV) technology to simulate in 2-D the drag free, zero g conditions of space. The current work is divided into 5 major projects: Global Navigation and Control of a Free Floating Robot, Cooperative Manipulation from a Free Flying Robot, Multiple Robot Cooperation, Thrusterless Robotic Locomotion, and Dynamic Payload Manipulation. These projects are examined in detail.

  18. Modular robotic applications in nuclear power plant maintenance

    International Nuclear Information System (INIS)

    Glass, S.W.; Ranson, C.C.; Reinholtz, C.F.; Calkins, J.M.

    1996-01-01

    General-purpose factory automation robots have experienced limited use in nuclear maintenance and hazardous-environment work spaces due to demanding requirements on size, weight, mobility and adaptability. Robotic systems in nuclear power plants are frequently custom designed to meet specific space and performance requirements. Examples of these custom configurations include Framatome Technologies COBRA trademark Steam Generator Manipulator and URSULA trademark Reactor Vessel Inspection Manipulator. The use of custom robots in nuclear plants has been limited because of the lead time and expense associated with custom design. Developments in modular robotics and advanced robot control software coupled with more powerful low-cost computers, however, are helping to reduce the cost and schedule for deploying custom robots. A modular robotic system allows custom robot configurations to be implemented using standard (modular) joints and adaptable controllers. This paper discusses Framatome Technologies (FTI) current and planned developments in the area of modular robot system design

  19. "Keisri hull" kui müstiline fantasy / Siimon Prii

    Index Scriptorium Estoniae

    Prii, Siimon

    2006-01-01

    30. sept. Ugalas esietendunud Jaan Krossi "Keisri hull" (autoridramatiseering), lavastajad Jaak Allik ja Peeter Tammearu. Kunstnik on Jaanus Laagriküll ja muusikaline kujundaja Peeter Konovalov. Peaosas Peeter Tammearu

  20. Safety Evaluation for Hull Waste Treatment Process in JNC

    International Nuclear Information System (INIS)

    Kojima, H.; Kurakata, K.

    2002-01-01

    Hull wastes and some scrapped equipment are typical radioactive wastes generated from reprocessing process in Tokai Reprocessing Plant (TRP). Because hulls are the wastes remained in the fuel shearing and dissolution, they contain high radioactivity. Japan Nuclear Cycle Development Institute (JNC) has started the project of Hull Waste Treatment Facility (HWTF) to treat these solid wastes using compaction and incineration methods since 1993. It is said that Zircaloy fines generated from compaction process might burn and explode intensely. Therefore explosive conditions of the fines generated in compaction process were measured. As these results, it was concluded that the fines generated from the compaction process were not hazardous material. This paper describes the outline of the treatment process of hulls and results of safety evaluation

  1. Fluid-Structure Interaction Effects Resulting from Hull Appendage Coupling

    National Research Council Canada - National Science Library

    Avcu, Mehmet

    2005-01-01

    In previous work conducted in the modeling and simulation of ships subjected to underwater explosions, there has been some debate over the influence that hull appendages have upon the dynamic response...

  2. On Rational Design of Double Hull Tanker Structures against Collision

    DEFF Research Database (Denmark)

    Paik, Jeom Kee; Chung, Jang Young; Choe, Ich Hung

    1999-01-01

    This paper is a summary of recent research and development in areas related to the design technology for double hull tanker structures against low energy collision, jointly undertaken by the Hyundai Heavy Industries, the American Bureau of Shipping, the Technical University of Denmark and the Pusan...... in the present study were (i) developing a framework for the collision design procedure for double hull tanker structures, (ii) experimental investigation of the structural crashworthiness of the collided vessels in collision or stranding, using double skinned structural models, (iii) validation of the special...... investigation of the energy absorption capability characteristics of a collided double hull VLCC side structure in collision, and (vi) development of a new modified Minorsky method for double hull tanker side structures. The tools developed and the results and insights obtained by the present study should...

  3. Hull-Propeller Interaction and Its Effect on Propeller Cavitation

    DEFF Research Database (Denmark)

    Regener, Pelle Bo

    In order to predict the required propulsion power for a ship reliably and accurately, it is not sufficient to only evaluate the resistance of the hull and the propeller performance in open water alone. Interaction effects between hull and propeller can even be a decisive factor in ship powering...... prediction and design optimization. The hull-propeller interaction coefficients of effective wake fraction, thrust deduction factor, and relative rotative efficiency are traditionally determined by model tests. Self-propulsion model tests consistently show an increase in effective wake fractions when using...... velocities. This offers an opportunity for additional insight into hull-propeller interaction and the propeller’s actual operating condition behind the ship, as the actual (effective) inflow is computed. Self-propulsion simulations at model and full scale were carried out for a bulk carrier, once...

  4. Estimating Hull Coating Thickness Distributions Using the EM Algorithm

    National Research Council Canada - National Science Library

    Corriere, Michael

    2000-01-01

    The underwater hull coating system on surface ships is comprised anti-corrosive (AC) and anti-fouling (AF) paint The AF layers are designed to wear away, continuously leaching cuprous oxide to inhibit marine growth...

  5. Opvoeders se persepsies van hulle werkmotivering: 'n kwalitatiewe ...

    African Journals Online (AJOL)

    Erna Kinsey

    Individue voel dat hulle self geen beheer oor die proses het nie en dat die verandering van buite ...... treatment has a negative influence on their self-esteem and moti- vation. ... tion, especially since the abolishment of corporal punishment.

  6. Soybean hulls as an iron source for bread enrichment

    International Nuclear Information System (INIS)

    Johnson, C.D.; Berry, M.F.; Weaver, C.M.

    1985-01-01

    Soybean hulls, a concentrated source of iron, may have potential as a source of iron fortification in baked products. Retention of 59 Fe in rats from white bread containing intrinsically labeled soybean hulls did not differ significantly (p<0.05) from extrinsically labeled white bread fortified with bakery grade ferrous sulfate (70.4 and 63.1%, respectively). Physical and sensory evaluations of bread containing up to 5% soybean hulls did not differ from white bread in loaf volume, cross-sectional area, tenderness or overall acceptance. These results suggest that soybean hulls are a good source of available iron and may be added to bakery products without deleterious effects in baking performance and sensory acceptability

  7. Calculation for Hull Strength Construction in Offshore Structures

    African Journals Online (AJOL)

    PROF. O. E. OSUAGWU

    2013-09-01

    Sep 1, 2013 ... of hull plating, reinforcing stiffeners, girders, and other structures. This paper therefore used the .... From these equations we derive that. Safety of. Factor. Stress ..... machineries, systems etc. of the ships or barge under design.

  8. Ship with a double hull used to transport liquefied gases

    Energy Technology Data Exchange (ETDEWEB)

    1968-07-18

    A ship with a double hull is described which is used to transport liquefied gases in reservoirs which are held inside the inner hull by a glide support and surrounded by insulation. Troughs are situated at the bottom and along the adjacent ends of the side walls to catch leakage from the reservoirs. These catchers are made of a material which is tough when chilled. The catchers have a suction installation to remove the leaked fluid. (5 claims)

  9. Diatom community structure on in-service cruise ship hulls.

    Science.gov (United States)

    Hunsucker, Kelli Zargiel; Koka, Abhishek; Lund, Geir; Swain, Geoffrey

    2014-10-01

    Diatoms are an important component of marine biofilms found on ship hulls. However, there are only a few published studies that describe the presence and abundance of diatoms on ships, and none that relate to modern ship hull coatings. This study investigated the diatom community structure on two in-service cruise ships with the same cruise cycles, one coated with an antifouling (AF) system (copper self-polishing copolymer) and the other coated with a silicone fouling-release (FR) system. Biofilm samples were collected during dry docking from representative areas of the ship and these provided information on the horizontal and vertical zonation of the hull, and intact and damaged coating and niche areas. Diatoms from the genera Achnanthes, Amphora and Navicula were the most common, regardless of horizontal ship zonation and coating type. Other genera were abundant, but their presence was more dependent on the ship zonation and coating type. Samples collected from damaged areas of the hull coating had a similar community composition to undamaged areas, but with higher diatom abundance. Diatom fouling on the niche areas differed from that of the surrounding ship hull and paralleled previous studies that investigated differences in diatom community structure on static and dynamically exposed coatings; niche areas were similar to static immersion and the hull to dynamic immersion. Additionally, diatom richness was greater on the ship with the FR coating, including the identification of several new genera to the biofouling literature, viz. Lampriscus and Thalassiophysa. These results are the first to describe diatom community composition on in-service ship hulls coated with a FR system. This class of coatings appears to have a larger diatom community compared to copper-based AF systems, with new diatom genera that have the ability to stick to ship hulls and withstand hydrodynamic forces, thus creating the potential for new problematic species in the biofilm.

  10. Use of Jatropha curcas hull biomass for bioactive compost production

    Energy Technology Data Exchange (ETDEWEB)

    Sharma, D.K. [Division of Environmental Sciences, Indian Agricultural Research Institute, New Delhi 110012 (India); Pandey, A.K.; Lata [Division of Microbiology, Indian Agricultural Research Institute, New Delhi 110012 (India)

    2009-01-15

    The paper deals with utilization of biomass of Jatropha hulls for production of bioactive compost. In the process of Jatropha oil extraction, a large amount of hull waste is generated. It has been found that the direct incorporation of hull into soil is considerably inefficient in providing value addition to soil due to its unfavorable physicochemical characteristics (high pH, EC and phenolic content). An alternative to this problem is the bioconversion of Jatropha hulls using effective lignocellulolytic fungal consortium, which can reduce the phytotoxicity of the degraded material. Inoculation with the fungal consortium resulted in better compost of jatropha hulls within 1 month, but it takes nearly 4 months for complete compost maturation as evident from the results of phytotoxicity test. Such compost can be applied to the acidic soil as a remedial organic manure to help maintaining sustainability of the agro-ecosystem. Likewise, high levels of cellulolytic enzymes observed during bioconversion indicate possible use of fungi for ethanol production from fermentation of hulls. (author)

  11. Preconditioning 2D Integer Data for Fast Convex Hull Computations.

    Science.gov (United States)

    Cadenas, José Oswaldo; Megson, Graham M; Luengo Hendriks, Cris L

    2016-01-01

    In order to accelerate computing the convex hull on a set of n points, a heuristic procedure is often applied to reduce the number of points to a set of s points, s ≤ n, which also contains the same hull. We present an algorithm to precondition 2D data with integer coordinates bounded by a box of size p × q before building a 2D convex hull, with three distinct advantages. First, we prove that under the condition min(p, q) ≤ n the algorithm executes in time within O(n); second, no explicit sorting of data is required; and third, the reduced set of s points forms a simple polygonal chain and thus can be directly pipelined into an O(n) time convex hull algorithm. This paper empirically evaluates and quantifies the speed up gained by preconditioning a set of points by a method based on the proposed algorithm before using common convex hull algorithms to build the final hull. A speedup factor of at least four is consistently found from experiments on various datasets when the condition min(p, q) ≤ n holds; the smaller the ratio min(p, q)/n is in the dataset, the greater the speedup factor achieved.

  12. Grene and Hull on types and typological thinking in biology.

    Science.gov (United States)

    Honenberger, Phillip

    2015-04-01

    Marjorie Grene (1910-2009) and David Hull (1935-2010) were among the most influential voices in late twentieth-century philosophy of biology. But, as Grene and Hull pointed out in published discussions of one another's work over the course of nearly forty years, they disagreed strongly on fundamental issues. Among these contested issues is the role of what is sometimes called "typology" and "typological thinking" in biology. In regard to taxonomy and the species problem, Hull joined Ernst Mayr's construal of typological thinking as a backward relic of pre-Darwinian science that should be overcome. Grene, however, treated the suspicion of typological thinking that characterized Hull's views, as well as those of other architects of the New Evolutionary Synthesis, as itself suspicious and even unsustainable. In this paper I review three debates between Grene and Hull bearing on the question of the validity of so-called typological thinking in biology: (1) a debate about the dispensability of concepts of "type" within evolutionary theory, paleontology, and taxonomy; (2) a debate about whether species can be adequately understood as individuals, and thereby independently of those forms of thinking Hull and Mayr had construed as "typological"; and (3) a debate about the prospects of a biologically informed theory of human nature. Copyright © 2015 Elsevier Ltd. All rights reserved.

  13. Treatment of zircaloy cladding hulls by isostatic pressing

    International Nuclear Information System (INIS)

    Tegman, R.; Burstroem, M.

    1984-12-01

    A method for the treatment of Zircaloy fuel hulls is proposed. It involves hot isostatic pressing (HIP) for making large, completely densified metallic bodies of the waste. The hulls are packed into a bellows-shaped container of steel. On packing the fuel hulls give a filling factor of only 14%, which is too low for non-deformable compaction in a normal container, but by using a belloped container, a non-deformable compaction can be obtained without any pretreatment of the hulls. Fully dense and mechanically strong blocks of Zircaloy can be fabricated by holding them at temperatures of around 1000 degrees C for three hours. It is also feasible to incorporate the other metallic parts of the fuel bundle, such as top and bottom tie plates and spacers, in the pressing. The HIP-densified hulls provide an effective means of self-containment of radioactive waste due to the excellent corrosion resistance of Zircaloy. A waste loading factor of close to 100% can be realized. Futher, a volume reduction factor of 7 and a surface reduction factor of aout 250 for a 1-ton canister can be achieved. Equilibrium calculations have shown that tritium present in the hulls can quantitatively be contained in the HIPed block. A study has been made of a possible process for industrilscale use. (Author)

  14. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  15. The Robots for Nuclear Power Plants

    International Nuclear Information System (INIS)

    Choi, Chang Hwan; Kim, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil; Shin, Ho Cheol; Lee, Sung Uk; Jung, Kyung Min; Jung, Seung Ho; Choi, Young So

    2005-01-01

    Nuclear energy becomes a major energy source worldwide even though the debating environmental and safety dispute. In order to cope with the issues related to the nuclear power plant, the uncertain human factors need to be minimized by automating the inspection and maintenance work done by human workers. The demands of robotic system in nuclear industry have been growing to ensure the safety of nuclear facilities, to detect early unusual condition of it through an inspection, to protect the human workers from irradiation, and to maintain it efficiently. NRL (Nuclear Robotics Laboratory) in KAERI has been developing robotic systems to inspect and maintain nuclear power plants in stead of human workers for over thirteen years. In order to carry out useful tasks, a nuclear robot generally requires the followings. First, the robot should be protected against radiation. Second, a mobile system is required to access to the work place. Third, a kind of manipulator is required to complete the tasks such as handling radioactive wastes and other contaminated objects, etc. Fourth, a sensing system such as cameras, ultrasonic sensors, temperature sensors, dosimetry equipments etc., are required for operators to observe the work place. Lastly, a control system to help the operators control the robots. The control system generally consists of a supervisory control part and remote control part. The supervisory control part consists of a man-machine interface such as 3D graphics and a joystick. The remote control part manages the robot so that it follow the operator's command

  16. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  17. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

    Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

  18. Robotics research in Chile

    Directory of Open Access Journals (Sweden)

    Javier Ruiz-del-Solar

    2016-12-01

    Full Text Available The development of research in robotics in a developing country is a challenging task. Factors such as low research funds, low trust from local companies and the government, and a small number of qualified researchers hinder the development of strong, local research groups. In this article, and as a case of study, we present our research group in robotics at the Advanced Mining Technology Center of the Universidad de Chile, and the way in which we have addressed these challenges. In 2008, we decided to focus our research efforts in mining, which is the main industry in Chile. We observed that this industry has needs in terms of safety, productivity, operational continuity, and environmental care. All these needs could be addressed with robotics and automation technology. In a first stage, we concentrate ourselves in building capabilities in field robotics, starting with the automation of a commercial vehicle. An important outcome of this project was the earn of the local mining industry confidence. Then, in a second stage started in 2012, we began working with the local mining industry in technological projects. In this article, we describe three of the technological projects that we have developed with industry support: (i an autonomous vehicle for mining environments without global positioning system coverage; (ii the inspection of the irrigation flow in heap leach piles using unmanned aerial vehicles and thermal cameras; and (iii an enhanced vision system for vehicle teleoperation in adverse climatic conditions.

  19. Strategies to reduce PWR inspection time

    International Nuclear Information System (INIS)

    Guerra, J.; Gonzalez, E.

    2001-01-01

    During last few years, a constant reduction in inspection time was clearly demanded by most nuclear plant owners. This requirement has to be accomplished without any impact in inspection quality that, in general, has also to be improved. All this in a market with increasing competition that forces price reductions. Under these new demands from our customers, Tecnatom reoriented its development efforts to improve his products and services to meet this challenges. Two of our main inspection activities that have clear impact in outage duration are Steam Generator and Vessel inspections. This paper describes the improvements made in these two activities as an example of the reorientation of our development efforts with a focus on the technical improvements made on the software and robotic tools applied as in the data acquisition and analysis systems. In the Steam Generator inspections, new robots with dual guide tubes are commonly used. New eddy current instruments and software were developed to keep up with the data rates produced by the faster acquisition system. Use of automatic analysis software is also helping to improve speed while reducing cost and improving overall job quality. Production rates are close to double from the previous inspection system. (author)

  20. Evaluation of the biological activity of sunflower hull extracts

    Energy Technology Data Exchange (ETDEWEB)

    Taha, F. S.; Wagdy, S. M.; Hassanein, M. M. M.; Hamed, S. F.

    2012-11-01

    This work was planned with the aim of adding value to sunflower seed hulls, a waste product of the oil industry by preparing a sunflower hull phenolic extract rich in chlorogenic acid (CGA). In order to fulfill this goal, the optimization for the extraction of a phenolic extract from the hulls was investigated. The parameters studied were: type of solvent, solvent to water ratio and hull to solvent ratio. In addition, the solvent mixtures were also studied. The resulting phenolic extracts were evaluated for their biological activities. This included phenolic content determination, evaluation of the antioxidant and antimicrobial activities. Chlorogenic acid was determined in two chosen hull extracts using the UV spectrophotometric method and HPLC analysis. The anti carcinogenic activity of the two chosen extracts was tested on seven different cell line carcinomas. The results revealed that all the phenolic extracts of sunflower hull studied contain between 190-312.5 mg phenolics/ 100 g hulls. The highest phenolic extraction was achieved with 80% methanol (1:30, hull to solvent, w/v ratio) and methanol to ethanol to water (7:7:6 v/v/v) mixture with values of 312.5 and 306.5 mg phenolics/100 g hulls, respectively. The free radical scavenging activity and antioxidant activity of all the samples ranged from 33.6-72.6%. The highest antioxidant activity and free radical scavenging activity were achieved by the same extracts that possessed the highest phenolic content, namely methanol to ethanol to water extract and 80% methanol with values 71.8 and 72.6%, 68.2 and 70.9% respectively, compared to 77.9 and 76.9% respectively for TBHQ. All the phenolic extracts possessed antimicrobial activity but to different levels against different pathogenic bacteria. The two chosen extracts also possessed anti carcinogenic activity, which differed among varying cell line carcinomas. The HPLC analysis indicated that chlorogenic acid was the main phenolic acid in the extract. Thus it can

  1. Autonomous flying robots

    CERN Document Server

    Nonami, Kenzo; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

    2010-01-01

    Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by m

  2. Hull loss accident model for narrow body commercial aircraft

    Directory of Open Access Journals (Sweden)

    Somchanok Tiabtiamrat

    2010-10-01

    Full Text Available Accidents with narrow body aircraft were statistically evaluated covering six families of commercial aircraft includingBoeing B737, Airbus A320, McDonnell Douglas MD80, Tupolev TU134/TU154 and Antonov AN124. A risk indicator for eachflight phase was developed based on motion characteristics, duration time, and the presence of adverse weather conditions.The estimated risk levels based on these risk indicators then developed from the risk indicator. Regression analysis indicatedvery good agreement between the estimated risk level and the accident ratio of hull loss cases per number of delivered aircraft.The effect of time on the hull loss accident ratio per delivered aircraft was assessed for B737, A320 and MD80. Equationsrepresenting the effect of time on hull loss accident ratio per delivered aircraft were proposed for B737, A320, and MD80,while average values of hull loss accident ratio per delivered aircraft were found for TU134, TU154, and AN 124. Accidentprobability equations were then developed for each family of aircraft that the probability of an aircraft in a hull loss accidentcould be estimated for any aircraft family, flight phase, presence of adverse weather factor, hour of day, day of week, monthof year, pilot age, and pilot flight hour experience. A simplified relationship between estimated hull loss accident probabilityand unsafe acts by human was proposed. Numerical investigation of the relationship between unsafe acts by human andfatality ratio suggested that the fatality ratio in hull loss accident was dominated primarily by the flight phase media.

  3. Distributed mechatronics controller for modular wall climbing robot

    CSIR Research Space (South Africa)

    Tlale, NS

    2006-07-01

    Full Text Available - climbing robot for inspection in nuclear power plants.”, Proc. IEEE Int. Conf. on Robotics and Automation, pp. 409-1414. (Chen 2001) Chen, D-. J., 2001, “Architecture for Systematic Development of Mechatronics Software Systems”, Licentiate Thesis... provide a more cost effective solution to the problem (Luk et al 1991). Such robots are termed service robots by the International Service Robot Association (ISRA) (Pransky 1996). They are defined as machines that sense, think, and act to benefit (or...

  4. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  5. Path Planning & Measurement Registration for Robotic Structural Asset Monitoring

    OpenAIRE

    Pierce , Stephen Gareth; Macleod , Charles Norman; Dobie , Gordon; Summan , Rahul

    2014-01-01

    International audience; The move to increased levels of autonomy for robotic delivery of inspection for asset monitoring, demands a structured approach to path planning and measurement data presentation that greatly surpasses the more ad‐,hoc approach typically employed by remotely controlled, but manually driven robotic inspection vehicles. The authors describe a traditional CAD/CAM approach to motion planning (as used in machine tool operation) which has numerous benefits including the...

  6. QFD-based conceptual design of an autonomous underwater robot

    Directory of Open Access Journals (Sweden)

    Thip Pasawang

    2015-12-01

    Full Text Available Autonomous underwater robots in the past few years have been designed according to the individual concepts and experiences of the researchers. To design a robot, which meets all the requirements of potential users, is an advanced work. Hence, a systematic design method that could include users’ preferences and requirements is needed. This paper presents the quality function deployment (QFD technique to design an autonomous underwater robot focusing on the Thai Navy military mission. Important user requirements extracted from the QFD method are the ability to record videos, operating at depth up to 10 meters, the ability to operate remotely with cable and safety concerns related to water leakages. Less important user requirements include beauty, using renewable energy, operating remotely with radio and ability to work during night time. The important design parameters derived from the user requirements are a low cost-controller, an autonomous control algorithm, a compass sensor and vertical gyroscope, and a depth sensor. Of low-importance ranked design parameters include the module design, use clean energy, a low noise electric motor, remote surveillance design, a pressure hull, and a beautiful hull form design. The study results show the feasibility of using QFD techniques to systematically design the autonomous underwater robot to meet user requirements. Mapping between the design and expected parameters and a conceptual drafting design of an autonomous underwater robot are also presented.

  7. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

    This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  8. Biofibres from biofuel industrial byproduct-Pongamia pinnata seed hull.

    Science.gov (United States)

    Manjula, Puttaswamy; Srinikethan, Govindan; Shetty, K Vidya

    2017-01-01

    Biodiesel production using Pongamia pinnata (P. pinnata) seeds results in large amount of unused seed hull. These seed hulls serve as a potential source for cellulose fibres which can be exploited as reinforcement in composites. These seed hulls were processed using chlorination and alkaline extraction process in order to isolate cellulose fibres. Scanning electron microscopy (SEM), dynamic light scattering (DLS), thermogravimetric analysis (TGA), X-ray diffraction (XRD), Fourier transform infrared spectroscopy (FTIR) and nuclear magnetic resonance spectroscopy (NMR) analysis demonstrated the morphological changes in the fibre structure. Cellulose microfibres of diameter 6-8 µm, hydrodynamic diameter of 58.4 nm and length of 535 nm were isolated. Thermal stability was enhanced by 70 °C and crystallinity index (CI) by 19.8% ensuring isolation of crystalline cellulose fibres. The sequential chlorination and alkaline treatment stemmed to the isolation of cellulose fibres from P. pinnata seed hull. The isolated cellulose fibres possessed enhanced morphological, thermal, and crystalline properties in comparison with P. pinnata seed hull. These cellulose microfibres may potentially find application as biofillers in biodegradable composites by augmenting their properties.

  9. Development of hull compaction system for nuclear recycle facility

    International Nuclear Information System (INIS)

    Manole, A.A.; Karkhanis, P.P.; Agarwal, Kailash; Basu, Sekhar

    2013-01-01

    India has adopted closed fuel cycle strategy for efficient management of available resources to meet long term energy requirements. Nuclear Recycle Facility (NRF) provides a vital link in three-stage Indian nuclear power programme. In a NRF for PHWR fuel cycle, reprocessing of spent fuel bundles from PHWRs is carried out using a chop-leach process where the spent fuel bundles are chopped into small pieces using a spent fuel chopper and the contents inside the zircaloy clad are dissolved using concentric nitric acid. This process generates empty zircaloy shells called 'hulls'. The present practice followed for management of hulls is to transfer them into SS drums and store these drums in underground RCC tile holes at a Waste Management Facility (WMF). This waste needs to be stored in an engineered WMF for at least 30-60 years before transferred to a final repository. The storage volumes required for this hull waste will keep increasing as the reprocessing capacity is being enhanced multi-folds. Compaction of hull waste has been employed internationally to reduce the volume required for storage. Hence indigenous development of hull compaction system was initiated by NRB to meet the future requirements. This is being achieved through a set of experiments and analysis with the available resources within the country. This paper describes the process of compaction, conceptualization of the system and benefits accrued from it. (author)

  10. Region-of-interest volumetric visual hull refinement

    KAUST Repository

    Knoblauch, Daniel

    2010-01-01

    This paper introduces a region-of-interest visual hull refinement technique, based on flexible voxel grids for volumetric visual hull reconstructions. Region-of-interest refinement is based on a multipass process, beginning with a focussed visual hull reconstruction, resulting in a first 3D approximation of the target, followed by a region-of-interest estimation, tasked with identifying features of interest, which in turn are used to locally refine the voxel grid and extract a higher-resolution surface representation for those regions. This approach is illustrated for the reconstruction of avatars for use in tele-immersion environments, where head and hand regions are of higher interest. To allow reproducability and direct comparison a publicly available data set for human visual hull reconstruction is used. This paper shows that region-of-interest reconstruction of the target is faster and visually comparable to higher resolution focused visual hull reconstructions. This approach reduces the amount of data generated through the reconstruction, allowing faster post processing, as rendering or networking of the surface voxels. Reconstruction speeds support smooth interactions between the avatar and the virtual environment, while the improved resolution of its facial region and hands creates a higher-degree of immersion and potentially impacts the perception of body language, facial expressions and eye-to-eye contact. Copyright © 2010 by the Association for Computing Machinery, Inc.

  11. Collective Modular Underwater Robotic System for Long-Term Autonomous Operation

    DEFF Research Database (Denmark)

    Christensen, David Johan; Andersen, Jens Christian; Blanke, Mogens

    This paper provides a brief overview of an underwater robotic system for autonomous inspection in confined offshore underwater structures. The system, which is currently in development, consist of heterogeneous modular robots able to physically dock and communicate with other robots, transport...

  12. Getting to grips with remote handling and robotics

    Energy Technology Data Exchange (ETDEWEB)

    Mosey, D [Ontario Hydro, Toronto (Canada)

    1984-12-01

    A report on the Canadian Nuclear Society Conference on robotics and remote handling in the nuclear industry, September 1984. Remote handling in reactor operations, particularly in the Candu reactors is discussed, and the costs and benefits of use of remote handling equipment are considered. Steam generator inspection and repair is an area in which practical application of robotic technology has made a major advance.

  13. Aerial service robots: an overview of the AIRobots activity

    NARCIS (Netherlands)

    Marconi, L.; Naldi, R.; Torre, A.; Nikolic, J.; Huerzeler, C.; Caprari, G.; Zwicker, E.; Siciliano, B.; Lippiello, V.; Carloni, Raffaella; Stramigioli, Stefano

    This video paper outlines some of the results achieved during the first two years of the ongoing European project AIRobots (Innovative Aerial Service Robots for Remote Inspection by Contact, www.airobots.eu). Goal of AIRobots is to develop a new generation of aerial service robots capable of

  14. Cecil gives in-bundle access for inspection and lancing [steam generators

    International Nuclear Information System (INIS)

    Trovato, S.A.; Ruggieri, S.K.

    1989-01-01

    Cecil (Consolidated Edison Combined Inspection and Lancing System) is a robotic device which makes it possible to take inspection and sludge lancing equipment deep inside steam generator tube bundles. Cecil is teleoperated to perform tube bundle inspections, sludge sampling and sludge lancing. The first field test of Cecil at Indian Point 2 reactor, successfully demonstrated its capability for high quality inspection, and its potential for improved sludge removal, both with reduced personnel radiation exposure. (U.K.)

  15. Numerical Simulation of Galvanic Corrosion Caused by Shaft Grounding Systems in Steel Ship Hulls

    National Research Council Canada - National Science Library

    Wang, Y

    2005-01-01

    .... This led to the accelerated corrosion of the exposed steel ship hull on paint holidays because of the substantial difference of the electric potentials between the steel ship hull and the nickel...

  16. The role of hull in germination and salinity tolerance in some ...

    African Journals Online (AJOL)

    hulled and dehulled) of sunflower seeds of Opal, Shelly (Confectionary) and Pactol (Oily) were tested to determine the effects of the hull on salinity tolerance during germination. Germination percentage (%), mean germination time (day), root and ...

  17. Wave-induced Ship Hull Vibrations in Stochastic Seaways

    DEFF Research Database (Denmark)

    Jensen, Jørgen Juncher; Dogliani, M.

    1996-01-01

    A theoretical Study is undertaken on the determination of wave-induced loads in flexible ship hulls. The calculations are performed within the framework of a non-linear, quadratic strip theory formulated in the frequency domain. Included are non-linear effects due to changes in added mass......, hydrodynamic damping and water line breadth with sectional immersion in waves. The study is limited to continuous excitations from the waves and thus transient so-called whipping vibrations due to slamming loads are not considered.Because of the non-linearities the ship hull responses become non...... to the large separation between dominating wave frequencies and the lowest two-node frequency of the hull beam. Both extreme value predictions and fatigue damage are considered.For a fast container ship the rigid body and two-node (springing) vertical wave-induced bending moments amidship are calculated...

  18. On the global ship hull bending energy in ship collisions

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup; Li, Yujie

    2009-01-01

    During ship collisions part of the kinetic energy of the involved vessels immediately prior to contact is absorbed as energy dissipated by crushing of the hull structures, by friction and by elastic energy. The purpose of this report is to present an estimate of the elastic energy that can...... be stored in elastic hull vibrations during a ship collision. When a ship side is strengthened in order to improve the crashworthiness it has been argued in the scientific literature that a non-trivial part of the energy released for structural deformation during the collision can be absorbed as elastic...... energy in global ship hull vibrations, such that with strong ship sides less energy has to be spent in crushing of the striking ship bow and/or the struck ship side. In normal ship–ship collision analyses both the striking and struck ship are usually considered as rigid bodies where structural crushing...

  19. Onboard monitoring of fatigue damage rates in the hull girder

    DEFF Research Database (Denmark)

    Nielsen, Ulrik Dam; Jensen, Jørgen Juncher; Pedersen, Preben Terndrup

    2011-01-01

    Most new advanced ships have extensive data collection systems to be used for continuous monitoring of engine and hull performance, for voyage performance evaluation etc. Such systems could be expanded to include also procedures for stress monitoring and for decision support, where the most...... critical wave-induced ship extreme responses and fatigue damage accumulation can be estimated for hypothetical changes in ship course and speed in the automatically estimated wave environment.The aim of this paper is to outline a calculation procedure for fatigue damage rate prediction in hull girders...... taking into account whipping stresses. It is conceptually shown how such a method, which integrates onboard estimation of sea states, can be used to deduce decision support with respect to the accumulated fatigue damage in the hull girder.The paper firstly presents a set of measured full-scale wave...

  20. On the Global Ship Hull Bending Energy in Ship Collisions

    DEFF Research Database (Denmark)

    Pedersen, Preben Terndrup; Li, Y.

    2004-01-01

    During ship collisions part of the kinetic energy of the involved vessels prior to contact is absorbed as energy dissipated by crushing of the hull structures, by friction and by elastic energy. The purpose of this report is to present an estimate of the elastic energy that can be stored in elastic...... hull vibrations during a ship collision. When a ship side is strengthened in order to improve the crashworthiness it has been argued in the scientific literature that a non trivial part of the energy released for structural deformation during the collision can be absorbed as elastic energy in global...... ship hull vibrations, such that with strong ship sides less energy has to be spent in crushing of the striking ship bow and/or the struck ship side. In normal ship-ship collision analyses both the striking and struck ship are usually considered as rigid bodies where structural crushing is confined...

  1. ISOLATION AND CHARACTERIZATION OF NANOFIBRILLATED CELLULOSE FROM OAT HULLS

    Directory of Open Access Journals (Sweden)

    Giovanni B. Paschoal

    2015-05-01

    Full Text Available The objectives of this work were to investigate the microstructure, crystallinity and thermal stability of nanofibrillated cellulose obtained from oat hulls using bleaching and acid hydrolysis at a mild temperature (45 ºC followed by ultrasonication. The oat hulls were bleached with peracetic acid, and after bleaching, the compact structure around the cellulosic fibers was removed, and the bundles became individualized. The extraction time (30 or 60 min did not affect the properties of the nanofibrillated cellulose, which presented a higher crystallinity index and thermal stability than the raw material (oat hulls. The nanocellulose formed interconnected webs of tiny fibers with diameters of 70-100 nm and lengths of several micrometers, producing nanofibers with a relatively high aspect ratio, thus indicating that these materials are suitable for polymer reinforcement.

  2. Yeast hulls: effect on spontaneous fermentation in different vinification conditions

    Directory of Open Access Journals (Sweden)

    Rosa López

    2000-09-01

    Full Text Available The effect of the addition of yeast hulls in vinification was investigated during three consecutive years. The study was carried out in the experimental winery of C.I.D.A in La Rioja (Spain with free running white grape juice of the Viura variety. Four different vinifications were studied. In two of these vinifications, stuck fermentations were detected. In all the studies, the addition of yeast hulls (yeast ghosts improved the fermentation kinetics, increasing the number of viable yeasts at the end of the exponential stage and decreasing the final content of reducing sugars. This work revealed a new effect of yeast hull addition which had not been identified previously; their selection effect on the wild yeast strain in spontaneous fermentation.

  3. The interaction of extreme waves with hull elements

    Science.gov (United States)

    Galiev, Shamil; Flay, Richard

    2010-05-01

    The problem of the impact of a rogue wave onto a deformable marine structure is formulated in a few publications (see, for example, a short review in http://researchspace.auckland.ac.nz/handle/2292/4474). In this paper the results from numerical and experimental investigations of the effect of cavitation on the deformation of a hull element, loaded by a wall of water, generated by an extreme ocean surface wave are considered. The hull element is modelled as a circular metal plate with the edge of the plate rigidly clamped. The plate surface is much smaller than the surface of the wave front, so that at the initial moment of the interaction, the pressure is constant on the plate surface. At the next instant, because of the plate deformation, axisymmetric loading of the plate occurs. The influences of membrane forces and plastic deformations are ignored, and therefore, the equation of plate motion has the following classical form Eh3(wrrrr+2r -1wrrrr- r-2wrr+r-3wr) = - 121- ν2)[ρhwtt+ δ(r,t)(p+ ρ0a0wt)]. Here w is the plate displacement, subscripts t and rindicate derivatives with respect to time and the radial coordinate, PIC is the plate material density, his the plate thickness, Eis Young's modulus, PIC is Poisson's ratio and p is the pressure of the incident surface wave measured on the wall, PIC is the water density, PIC is the speed of sound in water, and PIC is the normal velocity of the plate. The term PIC takes into account the effect of the deformability of the plate. Obviously, the hull of a vessel is not rigid like a solid wall, but starts to deform and to move. This motion produces a reflected pressure wave, which travels from the hull into the water wave with a magnitude equal to PIC . The normal velocity is positive so the reflected pressure PIC is negative (tensile wave). If the fluid pressure drops below some critical value pk, the wet plate surface separates from the water, and cavitation may be generated. The function δ(r,t) takes into account

  4. Remote inspection system for hazardous sites

    International Nuclear Information System (INIS)

    Redd, J.; Borst, C.; Volz, R.A.; Everett, L.J.

    1999-04-01

    Long term storage of special nuclear materials poses a number of problems. One of these is a need to inspect the items being stored from time to time. Yet the environment is hostile to man, with significant radiation exposure resulting from prolonged presence in the storage facility. This paper describes research to provide a remote inspection capability, which could lead to eliminating the need for humans to enter a nuclear storage facility. While there are many ways in which an RI system might be created, this paper describes the development of a prototype remote inspection system, which utilizes virtual reality technology along with robotics. The purpose of this system is to allow the operator to establish a safe and realistic telepresence in a remote environment. In addition, it was desired that the user interface for the system be as intuitive to use as possible, thus eliminating the need for extensive training. The goal of this system is to provide a robotic platform with two cameras, which are capable of providing accurate and reliable stereographic images of the remote environment. One application for the system is that it might be driven down the corridors of a nuclear storage facility and utilized to inspect the drums inside, all without the need for physical human presence. Thus, it is not a true virtual reality system providing simulated graphics, but rather an augmented reality system, which performs remote inspection of an existing, real environment

  5. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  6. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  7. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    future. A real version of Ava would not last long in a human world because she is basically a solipsist, who does not really care about humans. She cannot co-create the line humans walk along. The robots created as ‘perfect women’ (sex robots) today are very far from the ideal image of Ava...

  8. 46 CFR 154.182 - Contiguous hull structure: Production weld test.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 5 2010-10-01 2010-10-01 false Contiguous hull structure: Production weld test. 154.182... Equipment Hull Structure § 154.182 Contiguous hull structure: Production weld test. If a portion of the contiguous hull structure is designed for a temperature colder than −34 °C (−30 °F) and is not part of the...

  9. Convex Hull Abstraction in Specialisation of CLP Programs

    DEFF Research Database (Denmark)

    Peralta, J.C.; Gallagher, John Patrick

    2003-01-01

    We introduce an abstract domain consisting of atomic formulas constrained by linear arithmetic constraints (or convex hulls). This domain is used in an algorithm for specialization of constraint logic programs. The algorithm incorporates in a single phase both top-down goal directed propagation...... and bottom-up answer propagation, and uses a widening on the convex hull domain to ensure termination. We give examples to show the precision gained by this approach over other methods in the literature for specializing constraint logic programs. The specialization method can also be used for ordinary logic...

  10. Drag Reduction trough Special paints Coated on the hull

    OpenAIRE

    Izaguirre Alza, Patricia; Pérez Rojas, Luis; Núñez Basáñez, José Fernando

    2010-01-01

    The economic recession, the environmental impact as well as the continuous fossil fuel consumption encourage actions that focus on saving energy. In the vessels sector, one of the main objectives has always been to reach a hydro-dynamically optimum hull which gave the desired speed with minimum power. Hydrodynamic drag is basically divided into two parts: a) the friction between the water and the hull, and b) the wave generation due to the free-surface air-water. Presented in this paper...

  11. Robot Teachers

    DEFF Research Database (Denmark)

    Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

    The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

  12. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  13. Robotic seeding

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

    2017-01-01

    Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

  14. Heat-treated hull flour does not affect iron bioavailability in rats.

    Science.gov (United States)

    Martino, Hércia Stampini Duarte; Carvalho, Ariela Werneck de; Silva, Cassiano Oliveira da; Dantas, Maria Inês de Souza; Natal, Dorina Isabel Gomes; Ribeiro, Sônia Machado Rocha; Costa, Neuza Maria Brunoro

    2011-06-01

    In this study the chemical composition and iron bioavailability of hull and hull-less soybean flour from the new cultivar UFVTN 105AP was evaluated. The hemoglobin depletion-repletion method was used in Wistar rats. Soybean hull flour presented 37% more total dietary fiber and higher content of iron than hull-less soybean flour. The phytate:iron molar ratio, however, was 2-fold lower in the soybean hull flour in compared to the hull-less soybean flour. Animals fed soybean hull flour presented hemoglobin gains similar to those of the control diet group (p > 0.05). The Relative Biological Values of hull and hull-less soybean flour were 68.5% and 67.1%, respectively, compared to the control group. Heat-treated soybean hull flour (150 degrees C/30 minutes) showed high content of iron and low phytate, which favors the iron bioavailability. Thus, the soybean hull flour is a better source of dietary fiber and iron than hull-less soybean flour at comparable bioavailabilities.

  15. 14 CFR 25.533 - Hull and main float bottom pressures.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float bottom pressures. 25... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Water Loads § 25.533 Hull and main float bottom pressures. (a) General. The hull and main float structure, including frames and bulkheads...

  16. 46 CFR 32.63-20 - Hull structure-B/ALL.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 1 2010-10-01 2010-10-01 false Hull structure-B/ALL. 32.63-20 Section 32.63-20 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY TANK VESSELS SPECIAL EQUIPMENT, MACHINERY, AND HULL REQUIREMENTS Hull and Cargo Tank Requirements for Tank Barges Constructed or Converted On or After July 1, 1964...

  17. 46 CFR 71.50-31 - Continued participation in the Alternative Hull Examination (AHE) program.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 3 2010-10-01 2010-10-01 false Continued participation in the Alternative Hull... the Alternative Hull Examination (AHE) program. (a) To continue to participate in the AHE Program, vessel operators must conduct an annual hull condition assessment. At a minimum, vessel operators must...

  18. 46 CFR 45.135 - Hull openings at or below freeboard deck.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Hull openings at or below freeboard deck. 45.135 Section 45.135 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) LOAD LINES GREAT LAKES LOAD LINES Conditions of Assignment § 45.135 Hull openings at or below freeboard deck. Closures for hull...

  19. 14 CFR 23.529 - Hull and main float landing conditions.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float landing conditions. 23... Water Loads § 23.529 Hull and main float landing conditions. (a) Symmetrical step, bow, and stern... directed perpendicularly to the keel line. (b) Unsymmetrical landing for hull and single float seaplanes...

  20. 14 CFR 23.531 - Hull and main float takeoff condition.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float takeoff condition. 23.531 Section 23.531 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION... Water Loads § 23.531 Hull and main float takeoff condition. For the wing and its attachment to the hull...

  1. Of Curriculum Conceptions, Orientations, and Cultures: A Rejoinder to John E. Hull

    Science.gov (United States)

    Van Brummelen, Harro

    2009-01-01

    In this article, the author presents a rejoinder to John E. Hull. Van Brummelen first states his appreciation of John Hull's thoughtful evaluation of his views of curriculum, views in which many Christian educators have played a part. It has been several decades since the author spelled out what Hull calls an "education for discipleship"…

  2. 33 CFR 80.135 - Hull, MA to Race Point, MA.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Hull, MA to Race Point, MA. 80... INTERNATIONAL NAVIGATION RULES COLREGS DEMARCATION LINES Atlantic Coast § 80.135 Hull, MA to Race Point, MA. (a... the east coast of Massachusetts from the easternmost radio tower at Hull, charted in approximate...

  3. 14 CFR 25.527 - Hull and main float load factors.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float load factors. 25.527... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Water Loads § 25.527 Hull and main... 1=empirical hull station weighing factor, in accordance with figure 2 of appendix B. (7) r x=ratio...

  4. 46 CFR 42.09-30 - Additional survey requirements for steel-hull vessels.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 2 2010-10-01 2010-10-01 false Additional survey requirements for steel-hull vessels...-30 Additional survey requirements for steel-hull vessels. (a) In addition to the requirements in § 42...) When the vessel is in drydock, the hull plating, etc., shall be examined. (c) The holds, 'tween decks...

  5. 33 CFR Appendix G to Part 157 - Timetables for Application of Double Hull Requirements

    Science.gov (United States)

    2010-07-01

    ... Double Hull Requirements G Appendix G to Part 157 Navigation and Navigable Waters COAST GUARD, DEPARTMENT... Application of Double Hull Requirements 1. Source. These timetables conform to 46 U.S.C. 3703a(c). 2... double hull or with a double containment system determined by the Coast Guard to be as effective as a...

  6. 14 CFR 23.527 - Hull and main float load factors.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float load factors. 23.527... Water Loads § 23.527 Hull and main float load factors. (a) Water reaction load factors nw must be...=seaplane landing weight in pounds. (6) K1=empirical hull station weighing factor, in accordance with figure...

  7. 33 CFR 181.27 - Information displayed near hull identification number.

    Science.gov (United States)

    2010-07-01

    ... 33 Navigation and Navigable Waters 2 2010-07-01 2010-07-01 false Information displayed near hull... displayed near hull identification number. With the exception of the characters “US-”, which constitute the... the 12-character hull identification number (HIN), that information must be separated from the HIN by...

  8. 14 CFR 25.529 - Hull and main float landing conditions.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float landing conditions. 25... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Water Loads § 25.529 Hull and main.... (b) Unsymmetrical landing for hull and single float seaplanes. Unsymmetrical step, bow, and stern...

  9. 78 FR 50335 - Double Hull Tanker Escorts on the Waters of Prince William Sound, Alaska

    Science.gov (United States)

    2013-08-19

    ...-AB96 Double Hull Tanker Escorts on the Waters of Prince William Sound, Alaska AGENCY: Coast Guard, DHS... mandates two tug escorts for double hull tankers over 5,000 gross tons transporting oil in bulk in PWS. The... tug escort requirements apply to certain double hull tankers. DATES: This interim rule is effective...

  10. 46 CFR 108.133 - Hull superstructure, structural bulkheads, decks, and deckhouses.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 4 2010-10-01 2010-10-01 false Hull superstructure, structural bulkheads, decks, and deckhouses. 108.133 Section 108.133 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A... Protection § 108.133 Hull superstructure, structural bulkheads, decks, and deckhouses. Each hull...

  11. 14 CFR 25.531 - Hull and main float takeoff condition.

    Science.gov (United States)

    2010-01-01

    ... 14 Aeronautics and Space 1 2010-01-01 2010-01-01 false Hull and main float takeoff condition. 25... AIRCRAFT AIRWORTHINESS STANDARDS: TRANSPORT CATEGORY AIRPLANES Structure Water Loads § 25.531 Hull and main float takeoff condition. For the wing and its attachment to the hull or main float— (a) The aerodynamic...

  12. 77 FR 29251 - Safety Zone; Carnival Fireworks Display, Nantasket Beach, Hull, MA

    Science.gov (United States)

    2012-05-17

    ...-AA00 Safety Zone; Carnival Fireworks Display, Nantasket Beach, Hull, MA AGENCY: Coast Guard, DHS... zone on the navigable waters off of Nantasket Beach in the vicinity of Hull, MA for a Carnival... spectators and vessels from the hazards associated with fireworks displays. Discussion of Proposed Rule Hull...

  13. Management of waste cladding hulls. Part II. An assessment of zirconium pyrophoricity and recommendations for handling waste hulls

    International Nuclear Information System (INIS)

    Kullen, B.J.; Levitz, N.M.; Steindler, M.J.

    1977-11-01

    This report reviews experience and research related to the pyrophoricity of zirconium and zirconium alloys. The results of recent investigations of the behavior of Zircaloy and some observations of industrial handling and treatment of Zircaloy tubing and scrap are also discussed. A model for the management of waste Zircaloy cladding hulls from light water reactor fuel reprocessing is offered, based on an evaluation of the reviewed information. It is concluded that waste Zircaloy cladding hulls do not constitute a pyrophoric hazard if, following the model flow sheet, finely divided metal is oxidized during the management procedure. Steps alternative to the model are described which yield zirconium in deactivated form and also accomplish varying degrees of transuranic decontamination. Information collected into appendixes is (1) a collation of zirconium pyrophoricity data from the literature, (2) calculated radioactivity contents in Zircaloy cladding hulls from spent LWR fuels, and (3) results of a laboratory study on volatilization of zirconium from Zircaloy using HCl or Cl 2

  14. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

    This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

  15. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  16. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  17. Robotic Technology Efforts at the NASA/Johnson Space Center

    Science.gov (United States)

    Diftler, Ron

    2017-01-01

    The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

  18. LHC train control system for autonomous inspections and measurements

    OpenAIRE

    Di Castro, Mario; Baiguera Tambutti, Maria Laura; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

    2018-01-01

    Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. The Large Hadron Collider (LHC) tunnel at CERN has been equipped with fail-safe trains on monorail able to perform autonomously d...

  19. Multi-robots to micro-surgery: Selected robotic applications at Sandia National Laboratories

    Energy Technology Data Exchange (ETDEWEB)

    Bennett, P.C. [Sandia National Labs., Albuquerque, NM (United States). Intelligent Systems and Robotics Center

    1996-11-01

    The Intelligent Systems and Robotics Center (ISRC) at Sandia National Laboratories is a multi-program organization, pursuing research, development and applications in a wide range of field. Activities range from large-scale applications such as nuclear facility dismantlement for the US Department of Energy (DOE), to aircraft inspection and refurbishment, to automated script and program generation for robotic manufacturing and assembly, to miniature robotic devices and sensors for remote sensing and micro-surgery. This paper describes six activities in the large and small scale that are underway and either nearing technology transfer stage or seeking industrial partners to continue application development. The topics of the applications include multiple arm coordination for intuitively maneuvering large, ungainly work pieces; simulation, analysis and graphical training capability for CP-5 research reactor dismantlement; miniature robots with volumes of 16 cubic centimeters and less developed for inspection and sensor deployment; and biomedical sensors to enhance automated prosthetic device production and fill laparoscopic surgery information gap.

  20. The development of radiation hardened robot for nuclear facility

    Energy Technology Data Exchange (ETDEWEB)

    Kim, Seung Ho; Jung, Seung Ho; Kim, Byung Soo and others

    2000-04-01

    The work conducted in this stage covers development of core technology of tele-robot system including monitoring technique in high-level radioactive area, tele-sensing technology and radiation-hardened technology for the non-destructive tele-inspection system which monitors the primary coolant system during the normal operations of PHWR(Pressurized Heavy Water Reactor) NPPs and measures the decrease of bending part of feeder pipe during overall. Based on the developed core technology, the monitoring mobile robot system of the primary coolant system and the feeder pipe inspecting robot system are developed.

  1. The development of radiation hardened robot for nuclear facility

    International Nuclear Information System (INIS)

    Kim, Seung Ho; Jung, Seung Ho; Kim, Byung Soo and others

    2000-04-01

    The work conducted in this stage covers development of core technology of tele-robot system including monitoring technique in high-level radioactive area, tele-sensing technology and radiation-hardened technology for the non-destructive tele-inspection system which monitors the primary coolant system during the normal operations of PHWR(Pressurized Heavy Water Reactor) NPPs and measures the decrease of bending part of feeder pipe during overall. Based on the developed core technology, the monitoring mobile robot system of the primary coolant system and the feeder pipe inspecting robot system are developed

  2. Designs for remote inspection of the ALMR Reactor Vessel Auxiliary Cooling System (RVACS)

    International Nuclear Information System (INIS)

    Sweeney, F.J.; Carroll, D.G.; Chen, C.; Crane, C.; Dalton, R.; Taylor, J.R.; Tosunoglu, S.; Weymouth, T.

    1993-01-01

    One of the most important safety systems in General Electric's (GI) Advanced Liquid Metal Reactor (ALMR) is the Reactor Vessel Auxiliary Cooling System (RVACS). Because of high temperature, radiation, and restricted space conditions, GI desired methods to remotely inspect the RVACS, emissive coatings, and reactor vessel welds during normal refueling operations. The DOE/NE Robotics for Advanced Reactors program formed a team to evaluate the ALMR design for remote inspection of the RVACS. Conceptual designs for robots to perform the required inspection tasks were developed by the team. Design criteria for these remote systems included robot deployment, power supply, navigation, environmental hardening of components, tether management, communication with an operator, sensing, and failure recovery. The operation of the remote inspection concepts were tested using 3-D simulation models of the ALMR. In addition, the team performed an extensive technology review of robot components that could survive the environmental conditions in the RVACS

  3. The Hull Method for Selecting the Number of Common Factors

    Science.gov (United States)

    Lorenzo-Seva, Urbano; Timmerman, Marieke E.; Kiers, Henk A. L.

    2011-01-01

    A common problem in exploratory factor analysis is how many factors need to be extracted from a particular data set. We propose a new method for selecting the number of major common factors: the Hull method, which aims to find a model with an optimal balance between model fit and number of parameters. We examine the performance of the method in an…

  4. "Keisri hull" pürib taas filmiks

    Index Scriptorium Estoniae

    2008-01-01

    Eesti Filmi Sihtasutus otsustas anda arendustoetust mängufilmidele "Keisri hull" (režissöör Peeter Simm, arendaja Lege Artis Film), "Rahad ette" (režissöör Jaak Kilmi, arendaja Eetriüksus), "Öölendurid" (režissöör Peeter Urbla, arendaja Exitfilm)

  5. Double hull oil tankers - how effective are they?

    International Nuclear Information System (INIS)

    Keith, V.F.

    1993-01-01

    The groundings of the Exxon Valdez on Bligh Reef in Prince William Sound, spilling more than 10 million gallons of Alaska North Slope crude, and the American Trader off Huntington Beach, spilling almost 400,000 gallons of Alaska North Slope crude, suggest that the construction of oil tankers be re-examined with respect to a design which could reduce both the number and magnitude of oil spills. This paper discusses state-of-the-art tanker technology with respect to spill prevention, effectiveness, and cost. The design features include double hulls, centralized bunker tankers, vacuum-retaining valves, cargo control systems, auxiliary thrusters, electronic charting, and the retransmission of the ship's position. Double hulls provide the highest probability of surviving damage, either from a collision or grounding, with no loss of cargo. Use of double hulls can reduce oil spill incidence by 90 percent in grounding situations and by 75 percent in collisions. The oil spill from the AmericanTrader could have been completely avoided by double hull construction. The arrangement provides spaces below the cargo tanks and on the vessel's sides solely for the carriage of ballast water when the tanker is in ballast condition. These tanks are empty when the tanker is loaded and then also act as the first line of defense in the event of structural damage to the cargo tanks. Tanker design is integrated with port safety measures, including vessel monitoring systems, in this total spill prevention analysis. All aspects of the tanker transportation system are considered

  6. Water Pressure Distribution on a Flying Boat Hull

    Science.gov (United States)

    Thompson, F L

    1931-01-01

    This is the third in a series of investigations of the water pressures on seaplane floats and hulls, and completes the present program. It consisted of determining the water pressures and accelerations on a Curtiss H-16 flying boat during landing and taxiing maneuvers in smooth and rough water.

  7. Hybrid Wireless Hull Monitoring System for Naval Combat Vessels

    Science.gov (United States)

    2010-03-01

    Payload Data Acquisition System (SPDAS) is designed by the Technology Management Group, Inc. ( TMG ). In its design, the monitoring system is intended...monitoring system custom designed by TMG for the U.S. Navy. The Scientific Payload Data Acquisition System (SPDAS) is a wired hull monitoring system

  8. Leaching behavior of water-soluble carbohydrates from almond hulls

    Science.gov (United States)

    Over 58% of the dry matter content of the hulls from the commercial almond (Prunus dulcis (Miller) D.A. Webb) is soluble in warm water (50-70°C) extraction. The water-soluble extractables include useful amounts of fermentable sugars (glucose, fructose, sucrose), sugar alcohols (inositol and sorbito...

  9. Production of furfural and ethyl alcohol from cottonseed hulls

    Energy Technology Data Exchange (ETDEWEB)

    Bobovnikov, B M; Tsirlin, Yu A; Chepigo, S V; Shpuntova, M E

    1957-01-01

    Cottonseed hulls (8.3 tons per digester) and H/sub 2/SO/sub 4/ solution at temperature of 100/sup 0/ were added to the digester simultaneously. The final H/sub 2/SO/sub 4/ concentration of the charge was approximately 0.7%. The pentosans were hydrolyzed at 133/sup 0/ and 2 atmosphere for 6 hours and 15 minutes, then the temperature was raised to 179/sup 0/ at the top and to 150/sup 0/ at the bottom of the digester for 5 hours and 30 minutes. The hydrolytic products of pentosan were separated, neutralized, and transferred to a dehydration tank. The hexosans were then hydrolyzed at 179 to 187/sup 0/. Dry hulls gave 19.4% of pentose reducing sugars, of which 81.4% were fermented. One ton of dry hulls gave 74 to 79 l. of ethanol. The optimum condition for dehydration was at 165 to 175/sup 0/ for no longer than 4 to 4.5 hours. 2-Furaldehyde was produced in the following steps: the pentosan hydrolyzate was dehydrated with steam, the vapor-furaldehyde mixture was then reheated and finally distilled in a continuous column. The yield of furaldehyde was 36 to 37% of incoming pentoses (7% of dry hulls).

  10. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  11. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

  12. Full scale leak test of the MEGAPIE containment hull

    Energy Technology Data Exchange (ETDEWEB)

    Samec, K

    2006-07-15

    The Full Scale Leak Test (FSLT) experiment is designed to replicate an accidental leak of Lead-Bismuth Eutectic (LBE) liquid metal from the MEGAPIE neutron spallation source. The neutron source is totally encased in an aluminum containment hull cooled by heavy water. Any liquid metal which would, in a hypothetical accident, leak into the helium-filled insulation gap between the source and the aluminum containment hull, would immediately impact the hull. Furthermore, during irradiation in the PSI SINQ facility, the LBE in the MEGAPIE Lower Liquid Metal Container (LLMC) accumulates radio-active substances which, in the event of a leak, must be cooled and contained under controlled conditions, as they may otherwise contaminate the facility. The FSLT experiment has been devised to fully test the structural integrity of the containment hull against a sudden liquid metal leak, and in addition, to resolve the peak temperature of he coolant, to validate the sensors used in detecting a leak and of proof-test the analytical methods used in predicting the consequences of a leak. The FSLT experiment has been analysed ahead of the test, and both thermal and structural aspects calculated using commercial codes. The predictions applied conservative assumptions to the analysis of the thermal shock so as to preclude the likelihood of an unforeseen failure of the hull. In this document, these initial predictions are compared to the temperature and strain data recorded in the experiment. Further analysis, to be published at a later stage, will focus on applying actual conditions realised in the experiment, as opposed to the envelope case used in the test predictions. The integrity of the containment hull under loads resulting from liquid metal-leak is therefore the focal point of the experiment described in the current document, and serves as a key reference test for the Iicensing of the facility. The data recorded during the SLT experiment shows that the MEGAPIE containment hull is

  13. Full scale leak test of the MEGAPIE containment hull

    International Nuclear Information System (INIS)

    Samec, K.

    2006-07-01

    The Full Scale Leak Test (FSLT) experiment is designed to replicate an accidental leak of Lead-Bismuth Eutectic (LBE) liquid metal from the MEGAPIE neutron spallation source. The neutron source is totally encased in an aluminum containment hull cooled by heavy water. Any liquid metal which would, in a hypothetical accident, leak into the helium-filled insulation gap between the source and the aluminum containment hull, would immediately impact the hull. Furthermore, during irradiation in the PSI SINQ facility, the LBE in the MEGAPIE Lower Liquid Metal Container (LLMC) accumulates radio-active substances which, in the event of a leak, must be cooled and contained under controlled conditions, as they may otherwise contaminate the facility. The FSLT experiment has been devised to fully test the structural integrity of the containment hull against a sudden liquid metal leak, and in addition, to resolve the peak temperature of he coolant, to validate the sensors used in detecting a leak and of proof-test the analytical methods used in predicting the consequences of a leak. The FSLT experiment has been analysed ahead of the test, and both thermal and structural aspects calculated using commercial codes. The predictions applied conservative assumptions to the analysis of the thermal shock so as to preclude the likelihood of an unforeseen failure of the hull. In this document, these initial predictions are compared to the temperature and strain data recorded in the experiment. Further analysis, to be published at a later stage, will focus on applying actual conditions realised in the experiment, as opposed to the envelope case used in the test predictions. The integrity of the containment hull under loads resulting from liquid metal-leak is therefore the focal point of the experiment described in the current document, and serves as a key reference test for the Iicensing of the facility. The data recorded during the SLT experiment shows that the MEGAPIE containment hull is

  14. Biologically inspired robots as artificial inspectors

    Science.gov (United States)

    Bar-Cohen, Yoseph

    2002-06-01

    Imagine an inspector conducting an NDE on an aircraft where you notice something is different about him - he is not real but rather he is a robot. Your first reaction would probably be to say 'it's unbelievable but he looks real' just as you would react to an artificial flower that is a good imitation. This science fiction scenario could become a reality at the trend in the development of biologically inspired technologies, and terms like artificial intelligence, artificial muscles, artificial vision and numerous others are increasingly becoming common engineering tools. For many years, the trend has been to automate processes in order to increase the efficiency of performing redundant tasks where various systems have been developed to deal with specific production line requirements. Realizing that some parts are too complex or delicate to handle in small quantities with a simple automatic system, robotic mechanisms were developed. Aircraft inspection has benefitted from this evolving technology where manipulators and crawlers are developed for rapid and reliable inspection. Advancement in robotics towards making them autonomous and possibly look like human, can potentially address the need to inspect structures that are beyond the capability of today's technology with configuration that are not predetermined. The operation of these robots may take place at harsh or hazardous environments that are too dangerous for human presence. Making such robots is becoming increasingly feasible and in this paper the state of the art will be reviewed.

  15. 46 CFR 176.620 - Description of the Alternative Hull Examination (AHE) Program for certain passenger vessels.

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Description of the Alternative Hull Examination (AHE... Hull and Tailshaft Examinations § 176.620 Description of the Alternative Hull Examination (AHE) Program for certain passenger vessels. The Alternative Hull Examination (AHE) Program provides you with an...

  16. 46 CFR 176.625 - Eligibility requirements for the Alternative Hull Examination (AHE) Program for certain passenger...

    Science.gov (United States)

    2010-10-01

    ... 46 Shipping 7 2010-10-01 2010-10-01 false Eligibility requirements for the Alternative Hull... CERTIFICATION Hull and Tailshaft Examinations § 176.625 Eligibility requirements for the Alternative Hull... if— (1) It is constructed of steel or aluminum; (2) It has an effective hull protection system; (3...

  17. Measurement of dose rate and estimation of beta activity in zircaloy hull drum

    International Nuclear Information System (INIS)

    Pandey, J.P.N.; Kumar, Pankaj; Shinde, A.M.; Purohit, R.G.; Sarkar, P.K.

    2012-01-01

    Fuel Reprocessing Plant is designed for the processing of spent fuel from reactor for the recovery of plutonium and uranium as PuO 2 and U 3 O 8 respectively. Zircaloy is used as cladding material of natural uranium fuel pins used in the reactors. In reprocessing plants chop and leach method is used to remove the zircaloy clad from the fuel matrix during Head End Treatment. Initially spent fuel bundles are chopped into pieces and collected in perforated baskets kept in dissolvers. All chopped pieces are dissolved in HNO 3 in the dissolvers followed by heating and boiling. Dissolved solutions are transferred to Filtrate Tank (FT) leaving behind un-dissolved zircoloy hull pieces in the dissolver baskets. Un-dissolved and almost dry hull pieces are transferred in hull drum from the dissolver baskets using the Hull Tilting Facility. Hull drums are made of stainless steel having 500 litre capacity and two third of its volume is filled with zircoloy pieces. Hull drums filled with hull pieces are loaded in Hull Removal Cask (HRC) and transported to SWMF (Solid Waste Management Facility) site for interim storage/disposal in tile holes. Hull pieces are high active solid wastes which contain significant amount of fission products. Radiation levels on hull drums are in the range of few hundreds of mGy/h which has high potential of external hazards if not handled properly. Therefore hull drums are handled remotely in specially designed lead shielded cask

  18. Space Robotics Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

  19. Robotic arm

    International Nuclear Information System (INIS)

    Kwech, H.

    1989-01-01

    A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

  20. Robotic surgery

    Science.gov (United States)

    ... with this type of surgery give it some advantages over standard endoscopic techniques. The surgeon can make ... Elsevier Saunders; 2015:chap 87. Muller CL, Fried GM. Emerging technology in surgery: Informatics, electronics, robotics. In: ...