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.

NDE reliability and advanced NDE technology validation

International Nuclear Information System (INIS)

Doctor, S.R.; Deffenbaugh, J.D.; Good, M.S.; Green, E.R.; Heasler, P.G.; Hutton, P.H.; Reid, L.D.; Simonen, F.A.; Spanner, J.C.; Vo, T.V.

1989-01-01

This paper reports on progress for three programs: (1) evaluation and improvement in nondestructive examination reliability for inservice inspection of light water reactors (LWR) (NDE Reliability Program), (2) field validation acceptance, and training for advanced NDE technology, and (3) evaluation of computer-based NDE techniques and regional support of inspection activities. The NDE Reliability Program objectives are to quantify the reliability of inservice inspection techniques for LWR primary system components through independent research and establish means for obtaining improvements in the reliability of inservice inspections. The areas of significant progress will be described concerning ASME Code activities, re-analysis of the PISC-II data, the equipment interaction matrix study, new inspection criteria, and PISC-III. The objectives of the second program are to develop field procedures for the AE and SAFT-UT techniques, perform field validation testing of these techniques, provide training in the techniques for NRC headquarters and regional staff, and work with the ASME Code for the use of these advanced technologies. The final program's objective is to evaluate the reliability and accuracy of interpretation of results from computer-based ultrasonic inservice inspection systems, and to develop guidelines for NRC staff to monitor and evaluate the effectiveness of inservice inspections conducted on nuclear power reactors. This program started in the last quarter of FY89, and the extent of the program was to prepare a work plan for presentation to and approval from a technical advisory group of NRC staff

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)

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)

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.

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)

Steam generator inspection activities at the EPRI NDE Center

International Nuclear Information System (INIS)

Krzywosz, K.

1988-01-01

Various types of corrosion and mechanical damage continue to affect the availability of both recirculating and once-through steam generators. Both the tube bundle and its supporting structure are affected. Intergranular attack and stress corrosion cracking (SCC) are the corrosion-assisted tube-wall damage mechanisms of most concern at this time. Fatigue cracking and fretting at antivibration bars are currently the mechanical damage forms causing most concern. Improved NDE equipment and techniques are providing better detection and characterization of adverse conditions within the steam generators and doing it at an earlier stage. This allows timely corrective action. To maintain the projected life expectancy of existing and new steam generators, remedial measures have been implemented. These measures include shot- or roto-peening, U-bend stress relief, chemical cleaning of secondary side, and sleeving of tubes. The improved NDE technology will also be instrumental in monitoring and assessing the effectiveness of the remedial measures. The revision of guidance documents for steam generator in-service inspection (ISI) is providing more relevant information to support this complex operation. A multitasked project is described that includes evaluation of steam generator tube NDE technology, transfer of this technology to utilities, and rapid response utility assistance

Global NDE Best Practice for Technology Improvement, Outage Management, Foreign Material Exclusion and Dose Control

International Nuclear Information System (INIS)

Glass, S. W.; Mohr, F.

2010-01-01

Non Destructive Examination (NDE) is a critical element of both Boiling Water and Pressurized Water Reactor outages. Frequently this includes critical path activity so both the utility and the inspection vendor are under intense pressure to perform the work quickly. Concurrent with AREVA's new global organization of NDE resources, AREVA NDE SOLUTIONS, efforts have intensified for global application of lessons learned and best practices. These best practices include new developments as well as continuous improvements to well established tools and NDE techniques. Advancements range from steam generator robots, advanced steam generator deposit characterization sensors and method, new phased array approaches for PWR and BWR reactor vessel examination, new sensors and approaches for RPV head examinations, plus advanced internals examination robots and methods. In addition to specialized tools and techniques, best practice includes numerous management innovations. AREVA's multi-disciplined integrated nuclear worker strategy helps to minimize the total number of personnel deployed to multi-task outages. Specific design and on-site practice has been implemented to minimize or eliminate foreign material from the reactor system and vigorous pursuit of dose management practices keeps our nuclear worker dose as low as reasonably achievable. The industry is moving to much more conservative nuclear worker dose limits. While this is proving to be an issue with many vendors, AREVA has had an internal policy of <2R since 2006. Globalizing the organization also helps AREVA manage peaks and unplanned emergency inspections from an enlarged pool of globally qualified inspection personnel and tools. (Author)

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.

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

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

Nuclear Technology. Course 26: Nondestructive Examination (NDE) Techniques I. Module 26-6, Radiography Inspection.

Science.gov (United States)

Pelton, Rick; Espy, John

This sixth in a series of seven modules for a course titled Nondestructive Examination (NDE) Techniques I explains radiographic inspection as a means of nondestructively examining components, assemblies, structures, and fabricated piping. The module follows a typical format that includes the following sections: (1) introduction, (2) module…

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

NDE Studies on CRDMs Removed From Service

International Nuclear Information System (INIS)

Doctor, Steven R.; Cumblidge, Stephen E.; Schuster, George J.; Hockey, Ronald L.; Abrefah, John

2005-01-01

Studies being conducted at the Pacific Northwest National Laboratory (PNNL) in Richland, Washington are focused on assessing the effectiveness of NDE inspections of control rod drive mechanism (CRDM) nozzles and J-groove weldments. The primary objective of this work is to provide information to the United States Nuclear Regulatory Commission (US NRC) on the effectiveness of ultrasonic testing (UT) and eddy current testing (ET) as related to the in-service inspection of CRDM nozzles and J-groove weldments, and to enhance the knowledge base of primary water stress corrosion cracking (PWSCC) through destructive characterization of the CRDM assemblies. In describing two CRDM assemblies removed from service, decontaminated, and then used in a series of NDE measurements, this paper will address the following questions: (1) What did each technique detect?, (2) What did each technique miss?, (3) How accurately did each technique characterize the detected flaws? Two CRDM assemblies including the CRDM nozzle, the J-groove weld, buttering, and a portion of the ferritic head material were selected for this study. One contained suspected PWSCC, based on in-service inspection data; the other contained evidence suggesting through-wall leakage, but this was unconfirmed. The selected NDE measurements follow standard industry techniques for conducting in-service inspections of CRDM nozzles and the crown of the J-groove welds and buttering. In addition, laboratory based NDE methods will be employed to conduct inspections of the CRDM assemblies, with particular emphasis on inspecting the J-groove weld and buttering. This paper will also describe the NDE methods used and discuss the NDE results. Future work will involve using the results from these NDE studies to guide the development of a destructive characterization plan to reveal the crack morphology, to be compared with NDE responses

Technical Letter Report - Preliminary Assessment of NDE Methods on Inspection of HDPE Butt Fusion Piping Joints for Lack of Fusion

International Nuclear Information System (INIS)

Crawford, Susan L.; Cumblidge, Stephen E.; Doctor, Steven R.; Hall, Thomas E.; Anderson, Michael T.

2008-01-01

The U.S. Nuclear Regulatory Commission (NRC) has a multi-year program at the Pacific Northwest National Laboratory (PNNL) to provide engineering studies and assessments of issues related to the use of nondestructive evaluation (NDE) methods for the reliable inspection of nuclear power plant components. As part of this program, there is a subtask 2D that was set up to address an assessment of issues related to the NDE of high density polyethylene (HDPE) butt fusion joints. This work is being driven by the nuclear industry wanting to employ HDPE materials in nuclear power plant systems. This being a new material for use in nuclear applications, there are a number of issues related to its use and potential problems that may evolve. The industry is pursuing ASME Code Case N-755 entitled 'Use of Polyethylene (PE) Plastic Pipe for Section III, Division 1, Construction and Section XI Repair/Replacement Activities' that contains the requirements for nuclear power plant applications of HDPE. This Code Case requires that inspections be performed after the fusion joint is made by visually examining the bead that is formed and conducting a pressure test of the joint. These tests are only effective in general if gross through-wall flaws exist in the fusion joint. The NRC wants to know whether a volumetric inspection can be conducted on the fusion joint that will reliably detect lack-of-fusion conditions that may be produced during joint fusing. The NRC has requested that the work that PNNL is conducting be provided to assist them in resolving this inspection issue of whether effective volumetric NDE can be conducted to detect lack of fusion (LOF) in the butt HDPE joints. PNNL had 24 HDPE pipe specimens manufactured of 3408 material to contain LOF conditions that could be used to assess the effectiveness of NDE in detecting the LOF. Basic ultrasonic material properties were measured and used to guide the use of phased arrays and time-of-flight diffraction (TOFD) work that was

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)

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)

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)

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

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)

Remotely deployable aerial inspection using tactile sensors

Science.gov (United States)

MacLeod, C. N.; Cao, J.; Pierce, S. G.; Sullivan, J. C.; Pipe, A. G.; Dobie, G.; Summan, R.

2014-02-01

For structural monitoring applications, the use of remotely deployable Non-Destructive Evaluation (NDE) inspection platforms offer many advantages, including improved accessibility, greater safety and reduced cost, when compared to traditional manual inspection techniques. The use of such platforms, previously reported by researchers at the University Strathclyde facilitates the potential for rapid scanning of large areas and volumes in hazardous locations. A common problem for both manual and remote deployment approaches lies in the intrinsic stand-off and surface coupling issues of typical NDE probes. The associated complications of these requirements are obviously significantly exacerbated when considering aerial based remote inspection and deployment, resulting in simple visual techniques being the preferred sensor payload. Researchers at Bristol Robotics Laboratory have developed biomimetic tactile sensors modelled on the facial whiskers (vibrissae) of animals such as rats and mice, with the latest sensors actively sweeping their tips across the surface in a back and forth motion. The current work reports on the design and performance of an aerial inspection platform and the suitability of tactile whisking sensors to aerial based surface monitoring applications.

NDE training activities at the EPRI NDE Center

International Nuclear Information System (INIS)

Pherigo, G.L.

1988-01-01

The three principal categories of training activity at the EPRI NDE Center are in-service inspection (ISI) training, technical skills training, and human resource development. The ISI training category, which addresses recently developed NDE technologies that are ready for field application, is divided into two areas. One area provides ongoing training and qualification service to boiling water reactor (BWR) utilities in accordance with the Coordination Plan for NRC/EPRI/BWROG Training and Qualification Activities of NDE Personnel. This plan specifically addresses the detection and sizing of intergranular stress corrosion cracking (IGSCC). The second area includes training activities for other recently developed NDE technologies. Courses in this area include weld overlay examination and advanced eddy current data analysis. The technical skills training is developed and offered to support the basic NDE technology needs of the utilities, with emphasis on utility applications. These programs are provided in direct response to generic or specific needs identified by the utility NDE community. The human resource development activities are focused on long-term utility needs through awareness programs for high schools, technical schools, and universities. These training programs are described

NDE Assessment of PWSCC in Control Rod Drive Mechanism Housings

International Nuclear Information System (INIS)

Doctor, Steven R.; Cumblidge, Stephen E.; Schuster, George J.; Harris, Rob V.; Crawford, Susan L.

2006-01-01

Studies being conducted at the Pacific Northwest National Laboratory (PNNL) in Richland, Washington are focused on assessing the effectiveness of Nondestructive examination (NDE) techniques for inspecting control rod drive mechanism (CRDM) nozzles and J-groove weldments. The primary objective of this work is to provide information to the United States Nuclear Regulatory Commission (US NRC) on the effectiveness of NDE methods as related to the in-service inspection of CRDM nozzles and J-groove weldments, and to enhance the knowledge base of primary water stress corrosion cracking (PWSCC) through destructive characterization of the CRDM assemblies. In describing two CRDM assemblies removed from service, decontaminated, and then used in a series of NDE measurements, this paper will address the following questions: (1) What did each technique detect?, (2) What did each technique miss?, (3) How accurately did each technique characterize the detected flaws? Two CRDM assemblies including the CRDM nozzle, the J-groove weld, buttering, and a portion of the ferritic head material were selected for this study. One contained suspected PWSCC, based on in-service inspection data and through-wall leakage; the other contained evidence suggesting through-wall leakage, but this was unconfirmed. The selected NDE measurements follow standard industry techniques for conducting in-service inspections of CRDM nozzles and the crown of the J-groove welds and buttering. In addition, laboratory based NDE methods were employed to conduct inspections of the CRDM assemblies, with particular emphasis on inspecting the J-groove weld and buttering. This paper will also describe the NDE methods used and discuss the NDE results. Future work will involve using the results from these NDE studies to guide the development of a destructive characterization plan to reveal the crack morphology and a comparison of the degradation found by the destructive evaluation with the recorded NDE responses.

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

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.

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

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

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.

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.

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)

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.)

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.

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.)

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

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)

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

Evaluation of computer-based NDE techniques and regional support of inspection activities

International Nuclear Information System (INIS)

Taylor, T.T.; Kurtz, R.J.; Heasler, P.G.; Doctor, S.R.

1991-01-01

This paper describes the technical progress during fiscal year 1990 for the program entitled 'Evaluation of Computer-Based nondestructive evaluation (NDE) Techniques and Regional Support of Inspection Activities.' Highlights of the technical progress include: development of a seminar to provide basic knowledge required to review and evaluate computer-based systems; review of a typical computer-based field procedure to determine compliance with applicable codes, ambiguities in procedure guidance, and overall effectiveness and utility; design and fabrication of a series of three test blocks for NRC staff use for training or audit of UT systems; technical assistance in reviewing (1) San Onofre ten year reactor pressure vessel inservice inspection activities and (2) the capability of a proposed phased array inspection of the feedwater nozzle at Oyster Creek; completion of design calculations to determine the feasibility and significance of various sizes of mockup assemblies that could be used to evaluate the effectiveness of eddy current examinations performed on steam generators; and discussion of initial mockup design features and methods for fabricating flaws in steam generator tubes

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

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.

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

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.

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)

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)

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.

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.

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.

Through the looking glass: The future for NDE?

Science.gov (United States)

Bond, Leonard J.

2014-02-01

Nondestructive testing (NDT) is a mature industry, with global equipment sales fast moving towards 2B. per year. The use of conventional NDT will grow in developing countries and in developed countries the challenges will include those associated with maintaining aging infrastructure. For some systems the future will move to structural health monitoring (SHM) and for others into integration of online measurements in manufacturing. Nondestructive Evaluation (NDE) is a multi-disciplinary area of endeavor that has its origins in materials science and NDT. It seeks to provide an adequate science base for NDT to become a quantitative science. It was seen to be necessary to better detect, size and type defects, improve the reliability of inspection, and probability of detection (POD). There is particular interest in estimating the potential defects could have on performance or potential for loss of structural integrity, under various loading or stressor conditions, and ultimately implement risk-based reliability assessments. NDE must be seen more as a part of the wide field of engineering, as an interdisciplinary endeavor, that brings together the expertise of materials science and metrology, together with the underlying physics for inspection methods, as well as statistics, computers, robotics and software. The adoption of advanced manufacturing, will require new metrology tools and methods to provide data for assessing new materials including powder metals, as used in additive manufacturing, and various composites. The lessons from the past proceedings of this conference series include that the problems faced today are harder than was expected during the first decade of quantitative NDE research. Even with new types of transducers and much improved A/D and powerful computers new approaches and more basic measurement physics being understood, new insights are needed to provide the data needed to solve many real-world NDE problems, to understand and measure early

Study to define NDE research for inspection of stainless steels

International Nuclear Information System (INIS)

Reinhart, E.R.

1978-08-01

After the boiling water reactor (BWR) stress corrosion cracking incidents on 4- and 10-inch stainless steel piping, the Electric Power Research Institute (EPRI) organized a round-robin ultrasonic examination of piping removed from service (TPS-75-609). Five inspection teams participated in this program, using both a standard procedure and the individual team procedure. The original intent was to section the piping after the program to evaluate the effectiveness of state-of-the-art ultrasonics in finding stress corrosion cracking. The sectioning was delayed, however, to allow research and development (R and D) groups time to perform basic measurements aimed at determining optimum search unit and instrument characteristics for the ultrasonic examination of stainless steel piping and to study the applicability of various advanced inspection methods. This additional effort was funded as part of an EPRI technical planning study (TPS-75-620), A Study to Define NDE Research for Inspection of Stainless Steels. Inspection methods evaluated in this study included (1) processing of manual scan data using a miniature programmable calculator (Aerojet Nuclear); (2) investigation into the performance characteristics of three experimental ultrasonic transducers (Battelle-Columbus Laboratories); (3) analysis of fundamental ultrasonic response data from intergranular stress corrosion cracks in stainless steels (Southwest Research Institute); and (4) a feasibility study of advanced signal processing and pattern recognition for analyzing flaws in stainless steel piping (Ultrasonics International). The results of the studies compiled in the report have indicated the direction for future research and development and have formed the basis for the recently initiated EPRI Research Project 892, Ultrasonic System Optimization

Advanced NDE (ANDE) and its application for pressure tube inspections in OPG reactors

Energy Technology Data Exchange (ETDEWEB)

Jarron, D.; Trelinski, M.; Kretz, S. [Ontario Power Generation, Ajax, Ontario (Canada)]. E-mail: don.jarron@opg.com; mike.trelinski@opg.com; steve.kretz@opg.com

2006-07-01

Periodic and in-service inspections of CANDU fuel channels are essential for the proper assessment of the structural integrity of these vital components. The arrival of new delivery devices for fuel channel inspections (Universal Delivery Machine) has driven new methods for gathering and analyzing NDE data. The Advanced Non-Destructive Examination (ANDE) system has been designed and field implemented as a high speed data acquisition system to meet the requirements of the CSA N285.4 code. It was built from the solid foundation of CIGAR experience and uses cutting edge hardware and software to attain high speed data collection enabling relatively quick inspection of a large number of fuel channels. The capabilities of the ANDE inspection system include: Surface and volumetric inspection of pressure tube by ultrasonics; Flaw characterization by ultrasonics; Pressure tube diameter measurements; Pressure tube thickness measurements; Garter Spring location by Eddy Current; Garter Spring location by ultrasonics; Pressure tube sag measurement. In addition to the above, selected flaws/areas of a pressure tube can be replicated using a two plate ANDE replica tool. At the heart of the inspection system is a set of twelve ultrasonic probes positioned in such a way that the inspected areas are examined from various angles and directions and by various ultrasonic wave modes (shear and longitudinal). High frequency ultrasound used for the examinations allows for reliable detection of small flaws. Separate sensors have been installed on the inspection head for Garter Spring location and sag measurements. (author)

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)

NDE training activities at the EPRI NDE center

International Nuclear Information System (INIS)

Anon.

1987-01-01

The need for an industry-wide qualification for NDE personnel is becoming more evident in both in-service inspection and technical skills training. ASME Section XI requirements for the qualification and certification of visual, ultrasonic, and eddy current examines is one of the major areas being supported by training at the Center. The other major thrust is in response to the Boiling Water Reactor Owners Group and its recognition of the importance of the UT operator's accurately detecting, discriminating, and sizing intergranular stress corrosion cracks (IGSCC) in piping, and inspecting weld overlay repairs of these cracked pipes. In addition, the pressurized water reactor (PWR) utilities have recognized the importance of improved eddy current data analysis of steam generator tubing. The overall intent of the Center's training is to meet the most critical utility needs with quality training that can be used by the trainee's employer as a part of its certification of that individual. To do this, the Center has organized and activated a carefully maintained documentation and records system built around the Continuing Education Unit (CEU). To address the problem of the small supply of entry-level NDE personnel available to the utilities, the Center has developed, through its Human Resource Development, academic and utility co-op programs to generate guidelines and NDE teaching materials for high schools, technical schools, and universities

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

Development of a Remotely Operated NDE System for Inspection of Hanford's Double Shell Waste Tank Knuckle Regions

International Nuclear Information System (INIS)

Pardini, Allan F; Alzheimer, James M; Crawford, Susan L; Diaz, Aaron A; Gervais, Kevin L; Harris, Robert V; Riechers, Douglas M; Samuel, Todd J; Schuster, George J; Tucker, Joseph C

2001-01-01

This report documents work performed at the PNNL in FY01 to support development of a Remotely Operated NDE (RONDE) system capable of inspecting the knuckle region of Hanford's DSTs. The development effort utilized commercial off-the-shelf (COTS) technology wherever possible and provided a transport and scanning device for implementing the SAFT and T-SAFT techniques

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.

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

The role of NDE in maintaining and extending the life cycle of engineering components

International Nuclear Information System (INIS)

Doctor, S.R.

1997-01-01

A successful life cycle of engineering components begins during the design to select the best materials for a given application, designing for economical maintenance, and accommodating NDE inspections. NDE in the nuclear industry is part of the defense in depth to insure structural integrity of components. High reliability NDE is needed to reliably detect and accurately characterize the failure modes that have occurred in nuclear components. The move toward risk-informed inservice inspection programs focusses the NDE on the most safety significant components. The use of performance demonstration testing is leading to improved inservice inspections through screening out ineffective procedure/equipment/personnel. (orig.)

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.

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

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.

Toward automated interpretation of integrated information: Managing "big data" for NDE

Science.gov (United States)

Gregory, Elizabeth; Lesthaeghe, Tyler; Holland, Stephen

2015-03-01

Large scale automation of NDE processes is rapidly maturing, thanks to recent improvements in robotics and the rapid growth of computer power over the last twenty years. It is fairly straightforward to automate NDE data collection itself, but the process of NDE remains largely manual. We will discuss three threads of technological needs that must be addressed before we are able to perform automated NDE. Spatial context, the first thread, means that each NDE measurement taken is accompanied by metadata that locates the measurement with respect to the 3D physical geometry of the specimen. In this way, the geometry of the specimen acts as a database key. Data context, the second thread, means that we record why the data was taken and how it was measured in addition to the NDE data itself. We will present our software tool that helps users interact with data in context, Databrowse. Condition estimation, the third thread, is maintaining the best possible knowledge of the condition (serviceability, degradation, etc.) of an object or part. In the NDE context, we can prospectively use Bayes' Theorem to integrate the data from each new NDE measurement with prior knowledge. These tools, combined with robotic measurements and automated defect analysis, will provide the information needed to make high-level life predictions and focus NDE measurements where they are needed most.

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.

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)

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

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.

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

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

NDE fo Sizewell B

International Nuclear Information System (INIS)

Baborovsky, V.M.; Whittle, M.J.

1988-01-01

A key feature of the safety case for Sizewell B is the extensive NDE proposed for all primary circuit components whose failure must be demonstrated to be incredible. These incredibility of failure components include the reactor pressure vessel, the pressurizer, steam generator shells and reactor coolant pump casings. All of them are to be inspected by repeated, independent inspections using diverse techniques to ensure the highest reliability. The inspections themselves are checked by an independent inspection validation center. This paper reviews the progress made in implementing the above proposals. A number of components have already been inspected, other inspections are imminent. The work has required major technical and administrative innovations and these are described

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.

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

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.

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

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

NDE performance demonstration in the US nuclear power industry - applications, costs, lessons learned, and connection to NDE reliability

International Nuclear Information System (INIS)

Ammirato, F.

1997-01-01

Periodic inservice inspection (ISI) of nuclear power plant components is performed in the United States to satisfy legal commitments and to provide plant owners with reliable information for managing degradation. Performance demonstration provides credible evidence that ISI will fulfill its objectives. This paper examines the technical requirements for inspection and discusses how these technical needs are used to develop effective performance demonstration applications. NDE reliability is discussed with particular reference to its role in structural integrity assessments and its connection with performance demonstration. It is shown that the role of NDE reliability can range from very small to critical depending on the particular application and must be considered carefully in design of inspection techniques and performance demonstration programs used to qualify the inspection. Finally, the costs, benefits, and problems associated with performance demonstration are reviewed along with lessons learned from more than 15 years of performance demonstration experience in the US. (orig.)

NDE reliability and SAFT-UT final development

International Nuclear Information System (INIS)

Doctor, S.R.; Deffenbaugh, J.D.; Good, M.S.; Green, E.R.; Heasler, P.G.; Reid, L.D.; Simonen, F.A.; Spanner, J.C.; Taylor, T.T.; Vo, T.V.

1990-01-01

The Evaluation and Improvement of NDE Reliability for Inservice Inspection of Light Water Reactors (NDE Reliability) program at the Pacific Northwest Laboratory (PNL) was established by the US Nuclear Regulatory Commission (NRC) to determine the reliability of current inservice inspection (ISI) techniques and to develop recommendations that will ensure a suitably high inspection reliability. This is a progress report covering the programmatic work from October 1987 through September 1988. The program for Validation and Technology Transfer for SAFT-UT is designed to accomplish the final step of moving research results into beneficial application. Accomplishments for FY88 in Synthetic Aperture Focusing of Ultrasonic Test data (SAFT-UT) under this program are discussed in this paper. The information is treated under the copies of Code Activities, Field Validation, and Seminars. (orig.)

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.

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.

NDE and plant life extension

International Nuclear Information System (INIS)

Liu, S.N.; Ammirato, F.V.; Nottingham, L.D.

1991-01-01

Component life extension is the process of making run-repair-replace decisions for plant components and includes a thorough analysis of the capability of the component to perform throughout the projected lifetime. For many critical plant components, nondestructive evaluation (NDE) is essential in determining whether the component can be operated safely and economically in the extended life period and to help utilities determine safe and economic inspection intervals. NDE technology is required for not only detecting defects that could grow to a size of concern during extended lifetimes, but also will be called upon to measure and monitor accumulating material degradation that strongly affects component reliability. This paper discusses the role of NDE in life extension by reviewing three examples--a reactor pressure vessel, steam turbine-generator rotors, and generator retaining rings. In each example, the contribution of NDE to life extension decisions is described. (author)

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

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

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.

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

Piping inspection activities at the EPRI NDE Center

International Nuclear Information System (INIS)

Ammirato, F.V.

1988-01-01

Intergranular stress corrosion cracking (IGSCC) in the primary system of boiling water reactors (BWRs) has been a major reliability issue in recent years. BWR pipe cracking was first reported in 1974 with a low percentage of only small-diameter lines affected. However, with increased plant operating time, the number of reported cracking incidents has risen significantly and in 1982 and 1983 included the large-diameter recirculation lines. With the advent of cracking in large-diameter piping, innovative repair remedies were developed, such as weld overlay for repair (WOR). Although these remedies are effective in extending the service life of piping, they also present challenging NDE problems. The EPRI program for improving piping examination has aimed at systematically resolving the difficulties by optimizing techniques and procedures as well as by developing field-qualified automated examination equipment. The EPRI NDE Center's role has been the evaluation and transfer of the technology necessary to address the current piping examination problems of the nuclear utility industry. These activities normally include the following: technology assessment and improvement; validation through demonstrations and field trials; technology transfer reports, workshops, training, and qualification testing; and acquisition of relevant samples. The activities of the NDE Center are discussed

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

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

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).

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)

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.)

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

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

Terahertz NDE application for corrosion detection and evaluation under Shuttle tiles

Science.gov (United States)

Anastasi, Robert F.; Madaras, Eric I.; Seebo, Jeffrey P.; Smith, Stephen W.; Lomness, Janice K.; Hintze, Paul E.; Kammerer, Catherine C.; Winfree, William P.; Russell, Richard W.

2007-04-01

Pulsed Terahertz NDE is being examined as a method to inspect for possible corrosion under Space Shuttle Tiles. Other methods such as ultrasonics, infrared, eddy current and microwave technologies have demonstrable shortcomings for tile NDE. This work applies Terahertz NDE, in the frequency range between 50 GHz and 1 THz, for the inspection of manufactured corrosion samples. The samples consist of induced corrosion spots that range in diameter (2.54 to 15.2 mm) and depth (0.036 to 0.787 mm) in an aluminum substrate material covered with tiles. Results of these measurements are presented for known corrosion flaws both covered and uncovered and for blind tests with unknown corrosion flaws covered with attached tiles. The Terahertz NDE system is shown to detect all artificially manufactured corrosion regions under a Shuttle tile with a depth greater than 0.13 mm.

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

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)

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.

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.

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.

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)

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.

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.

AMES, NESC and ENIQ: European networks in the field of structural integrity involving NDE and inspection effectiveness assessment

International Nuclear Information System (INIS)

Crutzen, S.; Hurst, R.; Debarberis, L.; Lemaitre, P.; Eriksen, B.

1999-01-01

Three European networks on structural integrity aspects of ageing nuclear components are presently managed by the Institute for Advanced Materials of the Joint Research Centre of the European Commission: AMES (Ageing Materials Evaluation and Studies), ENIQ (European Network for Inspection Qualification) and NESC (Network for Evaluating Steel Components). All three networks involve actions, which aim at the effectiveness and reliability assessment of NDE techniques and of inspection procedures: Either for materials damage detection and characterisation or for defect detection and evaluation. This paper is describing very generally the objectives of the three networks and is then concentrating on the results obtained in ENIQ, which are relevant with ISI and regulatory issues. (orig./DGE)

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.

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.

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.

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

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.

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.

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.

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

Automated NDE Flaw Mapping System, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — The prevailing approach to non-destructive evaluation (NDE) of aircraft components is to set an inspection schedule based on what is generally known about the...

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.

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

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.

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.

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

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.

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.

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

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.)

Neutron radiography and other NDE tests of main rotor helicopter blades

International Nuclear Information System (INIS)

Beer, F.C. de; Coetzer, M.; Fendeis, D.; Silva, A. da Costa E

2004-01-01

A few nondestructive examination (NDE) techniques are extensively being used worldwide to investigate aircraft structures for all types of defects. The detection of corrosion and delaminations, which are believed to be the major initiators of defects leading to aircraft structural failures, are addressed by various NDE techniques. In a combined investigation by means of visual inspection, X-ray radiography and shearography on helicopter main rotor blades, neutron radiography (NRad) at SAFARI-1 research reactor operated by Necsa, was performed to introduce this form of NDE testing to the South African aviation industry to be evaluated for applicability. The results of the shearography, visual inspection and NRad techniques are compared in this paper. The main features and advantages of neutron radiography, within the framework of these investigations, will be highlighted

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

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.

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.

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)

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

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.

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.

Re-inventing NDE as science — How student ideas will help adapt NDE to the new ecosystem of science and technology

Science.gov (United States)

Meyendorf, Norbert

2018-04-01

Industry 4.0 stands for the fourth industrial revolution that is ongoing at present. Industry 4.0 is a terminology generally used in Europe to characterize the integration of production and communication technologies, the so called "smart factory". Lowering costs and efficient in-time production will be possible for low numbers of unique parts, for example by additive manufacturing (3D printing). A significant aspect is also quality and maintainability of these sometimes unique structures and components. NDE has to follow these trends, but introduce the capability of cyber systems into the inspection and maintenance processes. The author initiated in his NDE introductory class student projects where small groups of students had to identify everyday problems that can be solved by NDE techniques and suggest technical solutions based on today's technology. The results where exiting. After discussing the ecosystem and the present situation of NDE as a science, several of these ideas were presented. Let us listen to the ideas and needs of the young generation to re-invent NDE!

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

40-in. OMS Kevlar(Registered Trademark) COPV S/N 007 Stress Rupture Test NDE

Science.gov (United States)

Saulsberry, Regor; Greene, Nate; Forth, Scott; Leifeste, Mark; Gallus, Tim; Yoder, Tommy; Keddy, Chris; Mandaras, Eric; Wincheski, Buzz; Williams, Philip;

Training activities at the EPRI NDE Center

International Nuclear Information System (INIS)

Pherigo, G.

1986-01-01

The Electric Power Research Institute (EPRI), through its Nondestructive Examination (NDE) Center in Charlotte, North Carolina, has identified two specific categories of NDE training to best serve the industry's need for enhanced personnel qualification programs. These categories include in-service inspection (ISI) training and technical skills training. The ISI training provides operator training in new NDE technology areas that are ready for field application. The technical skills training is developed as part of a long-range plan to support all basic NDE methods typical to the electric power industry. The need for specific training and better documentation of NDE personnel qualifications is becoming more evident. ASME Section XI requirements for the qualification and certification of visual examiners and the recognition by the US Nuclear Regulatory Commission (NRC) of the importance of the ultrasonic (UT) operator in finding intergranular stress corrosion cracking (IGSCC) are two of the major issues being addressed by the training task of the EPRI NDE Center. The overall intent of the center's training is to meet the most critical utility needs with quality training that can be used by the trainee's employer as a part of their certification of that individual. To do this, the center has organized and activated a carefully maintained documentation and records systems built around the continuing education unit

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.

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

Invariance algorithms for processing NDE signals

Science.gov (United States)

Mandayam, Shreekanth; Udpa, Lalita; Udpa, Satish S.; Lord, William

1996-11-01

Signals that are obtained in a variety of nondestructive evaluation (NDE) processes capture information not only about the characteristics of the flaw, but also reflect variations in the specimen's material properties. Such signal changes may be viewed as anomalies that could obscure defect related information. An example of this situation occurs during in-line inspection of gas transmission pipelines. The magnetic flux leakage (MFL) method is used to conduct noninvasive measurements of the integrity of the pipe-wall. The MFL signals contain information both about the permeability of the pipe-wall and the dimensions of the flaw. Similar operational effects can be found in other NDE processes. This paper presents algorithms to render NDE signals invariant to selected test parameters, while retaining defect related information. Wavelet transform based neural network techniques are employed to develop the invariance algorithms. The invariance transformation is shown to be a necessary pre-processing step for subsequent defect characterization and visualization schemes. Results demonstrating the successful application of the method are presented.

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)

NDE for the 21st century: industry 4.0 requires NDE 4.0 (Conference Presentation)

Science.gov (United States)

Meyendorf, Norbert G.

2017-04-01

Industry 4.0 stands for the fourth industrial revolution that is ongoing at present. Industry 4.0 is a terminology preferred used in Europe to characterize the integration of production and communication technologies, the so called "smart factory". The first industrial revolution was the mechanization of work. The second was mass production and the assembly line. While the third revolution was the computer integrated manufacturing. Industry 4.0 encompasses the complete networking of all industrial areas. Lowering costs and efficient in-time production will be possible also for low numbers of very unique parts for example by additive manufacturing (3D printing). A significant aspect is also quality and maintainability of these sometimes unique structures and components. NDE has to follow these trends, not only by adapting NDE techniques to the new technologies, but also introducing the capability of cyber systems into the inspection and maintenance processes. The requirements and challenges for this new technological area will be discussed. Chances for applications of new technologies and systems for NDE will be demonstrated online.

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.

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

Rapid Inspection of Aerospace Structures - Is It Autonomous Yet?

Science.gov (United States)

Bar-Cohen, Yoseph; Backes, Paul; Joffe, Benjamin

1996-01-01

The trend to increase the usage of aging aircraft added a great deal of urgency to the ongoing need for low-cost, rapid, simple-to-operate, reliable and efficient NDE methods for detection and characterization of flaws in aircraft structures. In many cases, the problem of inspection is complex due to the limitation of current technology and the need to disassemble aircraft structures and testing them in lab conditions. To overcome these limitations, reliable field inspection tools are being developed for rapid NDE of large and complex-shape structures, that can operate at harsh, hostal and remote conditions with minimum human interface. In recent years, to address the need for rapid inspection in field conditions, numerous portable scanners were developed using NDE methods, including ultrasonics, shearography, thermography. This paper is written with emphasis on ultrasonic NDE scanners, their evolution and the expected direction of growth.

Tank Inspection NDE Results for Fiscal Year 2014, Waste Tanks 26, 27, 28 and 33

Energy Technology Data Exchange (ETDEWEB)

Elder, J. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL); Vandekamp, R. [Savannah River Site (SRS), Aiken, SC (United States). Savannah River National Lab. (SRNL)

2014-09-29

Ultrasonic nondestructive examinations (NDE) were performed on waste storage tanks 26, 27, 28 and 33 at the Savannah River Site as a part of the “In-Service Inspection (ISI) Program for High Level Waste Tanks.” No reportable conditions were identified during these inspections. The results indicate that the implemented corrosion control program continues to effectively mitigate corrosion in the SRS waste tanks. Ultrasonic inspection (UT) is used to detect general wall thinning, pitting and interface attack, as well as vertically oriented cracks through inspection of an 8.5 inch wide strip extending over the accessible height of the primary tank wall and accessible knuckle regions. Welds were also inspected in tanks 27, 28 and 33 with no reportable indications. In a Type III/IIIA primary tank, a complete vertical strip includes scans of five plates (including knuckles) so five “plate/strips” would be completed at each vertical strip location. In FY 2014, a combined total of 79 plate/strips were examined for thickness mapping and crack detection, equating to over 45,000 square inches of area inspected on the primary tank wall. Of the 79 plate/strips examined in FY 2014 all but three have average thicknesses that remain at or above the construction minimum thickness which is nominal thickness minus 0.010 inches. There were no service induced reportable thicknesses or cracking encountered. A total of 2 pits were documented in 2014 with the deepest being 0.032 inches deep. One pit was detected in Tank 27 and one in Tank 33. No pitting was identified in Tanks 26 or 28. The maximum depth of any pit encountered in FY 2014 is 5% of nominal thickness, which is less than the minimum reportable criteria of 25% through-wall for pitting. In Tank 26 two vertical strips were inspected, as required by the ISI Program, due to tank conditions being outside normal chemistry controls for more than 3 months. Tank 28 had an area of localized thinning on the exterior wall of the

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

NDE of Possible Service-Induced PWSCC in Control Rod Drive Mechanism Housings Removed from Service

International Nuclear Information System (INIS)

Cumblidge, Stephen E.; Doctor, Steven R.; Schuster, George J.; Harris, Robert V.; Crawford, Susan L.

2006-01-01

Studies being conducted at the Pacific Northwest National Laboratory (PNNL) in Richland, Washington are being performed to assess the effectiveness of nondestructive examination (NDE) techniques on removed-from-service control rod drive mechanism (CRDM) nozzles and the associated J-groove attachment welds. This work is being performed to provide information to the United States Nuclear Regulatory Commission (US NRC) on the effectiveness of NDE techniques such as ultrasonic testing (UT), eddy current testing (ET), and visual testing (VT) as related to the in-service inspection of CRDM nozzles and J-groove weldments, and to enhance the knowledge base of primary water stress corrosion cracking (PWSCC) through destructive characterization of the CRDM assemblies. The basic NDE measurements follow standard industry techniques for conducting in-service inspections of CRDM nozzles and the crown of the J-groove welds and buttering. In addition, laboratory-based NDE methods were employed to conduct inspections of the CRDM assemblies, with particular emphasis on the J-groove weld and buttering. This paper describes the NDE measurements that were employed on the two CRDMs to detect and characterize the indications and the analysis of these indications. The two CRDM assemblies were removed from service from the North Anna 2 vessel head, including the CRDM nozzle, the J-groove weld, buttering, and a portion of the ferritic head material. One nozzle contains suspected PWSCC, based on in-service inspection data; the second contains evidence suggesting through-wall leakage, although this was unconfirmed. A destructive test plan is being developed to directly characterize the indications found using nondestructive testing. The results of this destructive testing will be included when the destructive testing is completed.

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.

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.

Application of Automated NDE Data Evaluation to Missile and Aircraft Systems

National Research Council Canada - National Science Library

Hildreth, Joseph

1996-01-01

... from the inspection of solid rocket motors during fabrication. The computerized system, called the Automated NDE Data Evaluation System or ANDES, was developed under contract to Martin Marietta...

The middle ground of the NDE R and D spectrum

International Nuclear Information System (INIS)

Burte, H.M.; Chimenti, D.E.; Thompson, D.O.; Thompson, R.B.

1983-01-01

This keynote talk attempts to call attention to the interdisciplinary nature of NDE (nondestructive evaluation) science and technology and introduce some approaches for fostering R and D in such a situation. The objectives of DARPA, the Air Force core program for developing a science base for NDE are described. Finally, several exploratory development programs are investigated. The needs addressed by NDE include performance demands, safety, conservation, productivity with quality, and minimization of life cycle costs. The science base for electromagnetic techniques includes eddy-current flaw interactions, inversion techniques, and probe figures-of-merit. The problem of inspection reliability is addressed, and an accept-reject methodology schematicized. A methodology for approaching the middle ground of the NDE R and D spectrum is outlined. Finally, future possibilities such as the characterization of flaws in ceramics, transducer understanding, new electromagnetic probes, and thermal wave imaging are also discussed

Qualification of NDE personnel in the nuclear industry

International Nuclear Information System (INIS)

Epps, T.N.

1984-01-01

There has been evidence of ineffective programs for certifying nondestructive examination (NDE) personnel who conduct periodic inservice examinations in nuclear power plants under ASME Section XI Code requirements. This was brought to the attention of a group from the electric utility industry, the Electric Power Research Institute (EPRI), some NDE consultants and representatives from the American Society of Mechanical Engineers (ASME) by the Nuclear Regulatory Commission (NRC) in a May, 1982 meeting in Bethesda, Maryland. One problem pointed out by the NRC was the lack of a clear definition of qualification requirements for certification of NDE personnel who conduct ASME Section XI Inservice Inspection work in nuclear power plants. The NRC requested that the nuclear industry resolve this problem by formulating definitive qualification requirements for personnel certification that could be made an industry requirement. In June, 1982 the EPRI NDE Subcommittee held a general meeting for utility representatives to discuss the results of the May, 1982 meeting to develop a plan for industry response to the issue. The consensus was that an Ad Hoc Committee of utility representatives be convened to develop a document outlining qualification requirements for vertification of NDE personnel. The Ad Hoc Committee was formally convened on September 29, 1982

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.

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.

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...

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

Waste inspection tomography (WIT)

Energy Technology Data Exchange (ETDEWEB)

Bernardi, R.T. [Bio-Imaging Research, Inc., Lincolnshire, IL (United States)

1995-10-01

Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting, isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU.

Waste inspection tomography (WIT)

International Nuclear Information System (INIS)

Bernardi, R.T.

1995-01-01

Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting, isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU

NASA DOE POD NDE Capabilities Data Book

Science.gov (United States)

Generazio, Edward R.

2015-01-01

This data book contains the Directed Design of Experiments for Validating Probability of Detection (POD) Capability of NDE Systems (DOEPOD) analyses of the nondestructive inspection data presented in the NTIAC, Nondestructive Evaluation (NDE) Capabilities Data Book, 3rd ed., NTIAC DB-97-02. DOEPOD is designed as a decision support system to validate inspection system, personnel, and protocol demonstrating 0.90 POD with 95% confidence at critical flaw sizes, a90/95. The test methodology used in DOEPOD is based on the field of statistical sequential analysis founded by Abraham Wald. Sequential analysis is a method of statistical inference whose characteristic feature is that the number of observations required by the procedure is not determined in advance of the experiment. The decision to terminate the experiment depends, at each stage, on the results of the observations previously made. A merit of the sequential method, as applied to testing statistical hypotheses, is that test procedures can be constructed which require, on average, a substantially smaller number of observations than equally reliable test procedures based on a predetermined number of observations.

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.

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)

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.

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.

In-Space Inspection Technologies Vision

Science.gov (United States)

Studor, George

2012-01-01

Purpose: Assess In-Space NDE technologies and needs - current & future spacecraft. Discover & build on needs, R&D & NDE products in other industries and agencies. Stimulate partnerships in & outside NASA to move technologies forward cooperatively. Facilitate group discussion on challenges and opportunities of mutual benefit. Focus Areas: Miniaturized 3D Penetrating Imagers Controllable Snake-arm Inspection systems Miniature Free-flying Micro-satellite Inspectors

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

Evaluation and improvement of nondestructive evaluation reliability for inservice inspection of light water reactors

International Nuclear Information System (INIS)

Bates, D.J.; Deffenbaugh, J.D.; Good, M.S.; Heasler, P.G.; Mart, G.A.; Simonen, F.A.; Spanner, J.C.; Taylor, T.T.; Van Fleet, L.G.

1987-01-01

The Evaluation and Improvement of NDE Reliability for Inservice Inspection (ISI) of Light Water Reactors (NDE Reliability) Program at Pacific Northwest Laboratory (PNL) was established to determine the reliability of current ISI techniques and to develop recommendations that will ensure a suitably high inspection reliability. The objectives of this NRC program are to: determine the reliability of ultrasonic ISI performed on commercial light-water reactor (LWR) primary systems, using probabilistic fracture mechanics analysis, determine the impact of NDE unreliability on system safety and determine the level of inspection reliability required to ensure a suitably low failure probability, evaluate the degree of reliability improvement that could be achieved using improved and advanced NDE techniques, based on material properties, service conditions, and NDE uncertainties, recommend revisions to ASME Code, Section XI, and Regulatory Requirements that will ensure suitably low failure probabilities. The scope of this program is limited to ISI of primary systems; the results and recommendations may also be applicable to Class II piping systems

Computer Aided Feature Extraction, Classification and Acceptance Processing of Digital NDE Data

National Research Council Canada - National Science Library

Hildreth, Joseph

1996-01-01

... from the inspection of solid rocket motors during fabrication. The computerized system, called the Automated NDE Data Evaluation System or ANDES, was developed under contract to Martin Marietta, now Lockheed Martin...

Steam generator tubing NDE performance

International Nuclear Information System (INIS)

Henry, G.; Welty, C.S. Jr.

1997-01-01

Steam generator (SG) non-destructive examination (NDE) is a fundamental element in the broader SG in-service inspection (ISI) process, a cornerstone in the management of PWR steam generators. Based on objective performance measures (tube leak forced outages and SG-related capacity factor loss), ISI performance has shown a continually improving trend over the years. Performance of the NDE element is a function of the fundamental capability of the technique, and the ability of the analysis portion of the process in field implementation of the technique. The technology continues to improve in several areas, e.g. system sensitivity, data collection rates, probe/coil design, and data analysis software. With these improvements comes the attendant requirement for qualification of the technique on the damage form(s) to which it will be applied, and for training and qualification of the data analysis element of the ISI process on the field implementation of the technique. The introduction of data transfer via fiber optic line allows for remote data acquisition and analysis, thus improving the efficiency of analysis for a limited pool of data analysts. This paper provides an overview of the current status of SG NDE, and identifies several important issues to be addressed

Modelling NDE pulse-echo inspection of misorientated planar rough defects using an elastic finite element method

Energy Technology Data Exchange (ETDEWEB)

Pettit, J. R.; Lowe, M. J. S. [UK Research Centre for NDE, Imperial College London, Exhibition Road, London, SW7 2AZ (United Kingdom); Walker, A. E. [Rolls-Royce Nuclear, PO BOX 2000, Derby, DE21 7XX (United Kingdom)

2015-03-31

Pulse-echo ultrasonic NDE examination of large pressure vessel forgings is a design and construction code requirement in the power generation industry. Such inspections aim to size and characterise potential defects that may have formed during the forging process. Typically these defects have a range of orientations and surface roughnesses which can greatly affect ultrasonic wave scattering behaviour. Ultrasonic modelling techniques can provide insight into defect response and therefore aid in characterisation. However, analytical approaches to solving these scattering problems can become inaccurate, especially when applied to increasingly complex defect geometries. To overcome these limitations a elastic Finite Element (FE) method has been developed to simulate pulse-echo inspections of embedded planar defects. The FE model comprises a significantly reduced spatial domain allowing for a Monte-Carlo based approach to consider multiple realisations of defect orientation and surface roughness. The results confirm that defects aligned perpendicular to the path of beam propagation attenuate ultrasonic signals according to the level of surface roughness. However, for defects orientated away from this plane, surface roughness can increase the magnitude of the scattered component propagating back along the path of the incident beam. This study therefore highlights instances where defect roughness increases the magnitude of ultrasonic scattered signals, as opposed to attenuation which is more often assumed.

Use of computerized data acquisition system to auralize NDE data for improved inspection capability

International Nuclear Information System (INIS)

Light, Glenn M.; Holt, Amos E.; Polk, Kent D.; Clayton, William T.

2004-01-01

Southwest Research Institute has developed computer-aided technology for converting electronic signals generated by conventional nondestructive evaluation (NDE) equipment (i.e., ultrasonic, eddy current, and acoustic emission) into audible information so that the inspector can make use of both the conventional NDE signals (which are often confusing) and the audible information to make a flaw/nonflaw decision. One objective of this work was to develop a computerized data acquisition system that could collect ultrasonic data, perform time dilation of the ultrasonic data, and help develop algorithms. The aural technology has been applied to composite impact damage, composite delamination detection, and corrosion detection. In addition, the aural technology was used to detect and discriminate intergranular stress corrosion cracking. Examples of application of aural NDE technology are described. (author)

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

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)

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.

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.)

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)

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.)

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.

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

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.

Composite Stress Rupture NDE Research and Development Project (Kevlar[R] and Carbon)

Science.gov (United States)

Saulsberry, Regor

2010-01-01

The objective was to develop and demonstrate nondestructive evaluation (NDE) techniques capable of assessing stress rupture related strength degradation for carbon composite pressure vessels, either in a structural health monitoring (SHM) or periodic inspection mode.

Neutron radiography and other NDE tests of main rotor helicopter blades

CSIR Research Space (South Africa)

De Beer, FC

2004-10-01

Full Text Available leading to aircraft structural failures, are addressed by various NDE techniques. In a combined investigation by means of visual inspection, X-ray radiography and shearography on helicopter main rotor blades, neutron radiography (NRad) at SAFARI-1 research...

Steam Generator Inspection Planning Expert System

International Nuclear Information System (INIS)

Rzasa, P.

1987-01-01

Applying Artificial Intelligence technology to steam generator non-destructive examination (NDE) can help identify high risk locations in steam generators and can aid in preparing technical specification compliant eddy current test (ECT) programs. A steam Generator Inspection Planning Expert System has been developed which can assist NDE or utility personnel in planning ECT programs. This system represents and processes its information using an object oriented declarative knowledge base, heuristic rules, and symbolic information processing, three artificial intelligence based techniques incorporated in the design. The output of the system is an automated generation of ECT programs. Used in an outage inspection, this system significantly reduced planning time

Waste Inspection Tomography (WIT)

International Nuclear Information System (INIS)

Bernardi, R.T.

1995-01-01

Waste Inspection Tomography (WIT) provides mobile semi-trailer mounted nondestructive examination (NDE) and assay (NDA) for nuclear waste drum characterization. WIT uses various computed tomography (CT) methods for both NDE and NDA of nuclear waste drums. Low level waste (LLW), transuranic (TRU), and mixed radioactive waste can be inspected and characterized without opening the drums. With externally transmitted x-ray NDE techniques, WIT has the ability to identify high density waste materials like heavy metals, define drum contents in two- and three-dimensional space, quantify free liquid volumes through density and x-ray attenuation coefficient discrimination, and measure drum wall thickness. With waste emitting gamma-ray NDA techniques, WIT can locate gamma emitting radioactive sources in two- and three-dimensional space, identify gamma emitting isotopic species, identify the external activity levels of emitting gamma-ray sources, correct for waste matrix attenuation, provide internal activity approximations, and provide the data needed for waste classification as LLW or TRU. The mobile feature of WIT allows inspection technologies to be brought to the nuclear waste drum storage site without the need to relocate drums for safe, rapid, and cost-effective characterization of regulated nuclear waste. The combination of these WIT characterization modalities provides the inspector with an unprecedented ability to non-invasively characterize the regulated contents of waste drums as large as 110 gallons, weighing up to 1,600 pounds. Any objects that fit within these size and weight restrictions can also be inspected on WIT, such as smaller waste bags and drums that are five and thirty-five gallons

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

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.

Qualification of non-destructive examination for belgian nuclear reactor pressure vessel inspection

International Nuclear Information System (INIS)

Couplet, D.; Francoise, T.

2001-01-01

In Service Inspection (ISI) participates to the assessment of Nuclear Reactor Pressure Vessel Integrity. The performance of Non Destructive Examination (NDE) techniques must be demonstrated according to predefined objectives. The qualification process is essential to trust the reliability of the information provided by NDE. In Belgian Nuclear Power Plants, the qualification was conducted through a collaboration between the vendor and a technical group from the Electricity Utility. The important facts of this qualification will be presented: - the detailed definition of the inspection and qualifications objectives, based on a combination of the ASME code and the European Methodology for Qualification; - the systematic verification of the NDE performance and limitations, for each ISI objective, through an adequate combination of tests on blocks and technical justification; - the continuous improvement of the NDE procedure; - the feedback and the lessons learnt from site experience; - the necessary multi-disciplinary approach (NDE, degradation mechanisms, structural integrity)

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.

Assessment of NDE Methods on Inspection of HDPE Butt Fusion Piping Joints for Lack of Fusion with Validation from Mechanical Testing

International Nuclear Information System (INIS)

Anderson, Michael T.; Cinson, Anthony D.; Crawford, Susan L.; Doctor, Steven R.; Moran, Traci L.; Watts, Michael W.

2010-01-01

Studies at the Pacific Northwest National Laboratory (PNNL) in Richland, Washington, are being conducted to evaluate nondestructive examinations (NDE) coupled with mechanical testing of butt fusion joints in high-density polyethylene (HDPE) pipe for assessing lack of fusion. The work provides information to the U.S. Nuclear Regulatory Commission (NRC) on the effectiveness of volumetric inspection techniques of HDPE butt fusion joints in Section III, Division 1, Class 3, buried piping systems in nuclear power plants. This paper describes results from preliminary assessments using ultrasonic and microwave nondestructive techniques and mechanical testing with the high-speed tensile impact test and the side-bend test for determining joint integrity. A series of butt joints were fabricated in 3408, 12-in. IPS DR-11 HDPE material by varying the fusion parameters to create good joints and joints containing a range of lack-of-fusion conditions. Six of these butt joints were volumetrically examined with time-of-flight diffraction (TOFD), phased-array (PA) ultrasound, and the Evisive microwave system. The outer-diameter weld beads were removed for the microwave inspection. In two of the four pipes, both the outer and inner weld beads were removed and the pipe joints re-evaluated. The pipes were sectioned and the joints destructively evaluated with the side-bend test by cutting portions of the fusion joint into slices that were planed and bent. The last step in this limited study will be to correlate the fusion parameters, nondestructive, and destructive evaluation results to validate the effectiveness of what each NDE technology detects and what each does not detect. The results of the correlation will be used in identifying any future work that is needed.

The role of small business in innovative NDE

International Nuclear Information System (INIS)

Berger, H.

1983-01-01

Small business is a strong element in the economy in terms of employment, new jobs and the introduction of new products and services. In NDE, small companies have introduced new ideas, products and techniques, making these available for improved inspection. Given more opportunity, small business can be an even stronger factor in NDE technology transfer. This opportunity might be provided in the form of: Greater assistance and encouragement from large organizations who do not plan to move forward on developments within their own laboratories; Greater recognition for people who display the innovative, entrepreneurial spirit needed to start new ventures; and More opportunities in R and D - either in direct contract support or in a subcontractor role in which the small business innovative spirit is encouraged

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

Entering the Era of "Super" NDE Instruments, Followed by Progressive Miniaturization, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — An ideal NDE data acquisition and analysis tool would be a versatile and precise device capable of providing support for a large number of inspections using numerous...

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)

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)

Development of composite calibration standard for quantitative NDE by ultrasound and thermography

Science.gov (United States)

Dayal, Vinay; Benedict, Zach G.; Bhatnagar, Nishtha; Harper, Adam G.

2018-04-01

Inspection of aircraft components for damage utilizing ultrasonic Non-Destructive Evaluation (NDE) is a time intensive endeavor. Additional time spent during aircraft inspections translates to added cost to the company performing them, and as such, reducing this expenditure is of great importance. There is also great variance in the calibration samples from one entity to another due to a lack of a common calibration set. By characterizing damage types, we can condense the required calibration sets and reduce the time required to perform calibration while also providing procedures for the fabrication of these standard sets. We present here our effort to fabricate composite samples with known defects and quantify the size and location of defects, such as delaminations, and impact damage. Ultrasonic and Thermographic images are digitally enhanced to accurately measure the damage size. Ultrasonic NDE is compared with thermography.

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

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

Field experience with advanced inservice inspection NDE-techniques for detection and sizing

International Nuclear Information System (INIS)

Engl, G.; Kronig, M.

1988-01-01

This document deals with Non-Destructive Examination (NDE) techniques used for the detection and sizing of cracks. Several techniques, such as L-SAFT, ALOK and Phased Array with UT-Tomography are discussed and compared. (TEC)

Field experience with advanced inservice inspection NDE-techniques for detection and sizing

Energy Technology Data Exchange (ETDEWEB)

Engl, G; Kronig, M

1988-12-31

This document deals with Non-Destructive Examination (NDE) techniques used for the detection and sizing of cracks. Several techniques, such as L-SAFT, ALOK and Phased Array with UT-Tomography are discussed and compared. (TEC).

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

A Destructive Validation of NDE Responses of Service-Induced PWSCC Found in North Anna 2 Control Rod Drive Nozzle 31

International Nuclear Information System (INIS)

Cumblidge, Stephen E.; Doctor, Steven R.; Schuster, George J.; Harris, Robert V.; Crawford, Susan L.; Seffens, Rob J.; Toloczko, Mychailo B.; Bruemmer, Stephen M.; Moyer, C.

2009-01-01

Studies conducted at the Pacific Northwest National Laboratory (PNNL) in Richland, Washington focused on assessing the effectiveness of nondestructive examination (NDE) techniques for inspecting control rod drive mechanism (CRDM) nozzles and J-groove weldments. The primary objective of this work is to provide information to the United States Nuclear Regulatory Commission (NRC) on the effectiveness of NDE methods as related to the in-service inspection of CRDM nozzles and J-groove weldments, and to enhance the knowledge base of primary water stress corrosion cracking (PWSCC) through destructive characterization of the CRDM assemblies.

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

Characteristics of an HTS-SQUID gradiometer with ramp-edge Josephson junctions and its application on robot-based 3D-mobile compact SQUID NDE system

Energy Technology Data Exchange (ETDEWEB)

Hatsukade, Y., E-mail: hatukade@ens.tut.ac.jp [Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580 (Japan); Hayashi, K.; Shinyama, Y.; Kobayashi, Y. [Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580 (Japan); Adachi, S.; Tanabe, K. [International Superconductivity Technology Center/Superconductivity Research Laboratory, 10-13, Shinonome 1-chome, Koto-ku, Tokyo 135-0062 (Japan); Tanaka, S. [Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku-cho, Toyohashi, Aichi 441-8580 (Japan)

2011-11-15

We investigated behavior of HTS-dc-SQUID gradiometers with ramp-edge Josephson junctions (JJs) in ac and dc magnetic fields. In the both fields, the gradiometers show higher durability against entry of flux vortices than SQUIDs with bicrystal JJs. A robot-based SQUID NDE system utilizing the gradiometer was developed in an unshielded environment. Detectability of the system to detect non-through cracks in double-layer structures was demonstrated. A new excitation coil was applied to detect cracks that oriented vertical and parallel to the baseline of the gradiometer. In this paper, we investigated detailed behavior of novel HTS-dc-SQUID gradiometers with ramp-edge Josephson junctions (JJs) in both an ac magnetic field and a dc magnetic field. In the both fields, the novel gradiometers shows the superior performance to the conventional YBa{sub 2}Cu{sub 3}O{sub 7-x} (YBCO) HTS-dc-SQUID gradiometer and a bare HTS-dc-SQUID ring with bicrystal JJs concerning durability against entry and hopping of flux vortices, probably due to their differential pickup coils without a grain boundary and multilayer structure of the ramp-edge JJs. A robot-based compact HTS-SQUID NDE system utilizing the novel gradiometer was reviewed, and detectability of the system to detect non-through cracks in a carbon fiber reinforced plastic (CFRP)/Al double-layer structure was demonstrated. A new excitation coil in which the supplied currents flowed in the orthogonal directions was applied to detect cracks that oriented vertical and parallel to the baseline of the gradiometer.

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)

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)

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

Construction appraisal team inspection results on welding and nondestructive examination activities

International Nuclear Information System (INIS)

Wu, P.C.S.; Shaaban, H.I.

1987-09-01

This report summarizes data and findings on deficiencies and discrepancies in welding and nondestructive examination (NDE) activities identified by the US Nuclear Regulatory Commission Construction Appraisal Team (CAT) during its inspection of 11 plants. The CAT reviewed selected welds and NDE packages in its inspection of the following plant areas: piping and pipe supports and/or restraints; modification and installation of reactor internals; electrical installations and electrical supports; instrumentation tubing and supports; heating, ventilation, and air conditioning (HVAC) systems and supports; fabrication and erection of structural steel; fabrication of refueling cavity and spent fuel pool liner; containment liner and containment penetrations; and fire protection systems. The CAT inspected both structural welds and pressure-retaining welds and reviewed welder qualification test records and welding procedure documents for code compliance. The NDE activities that were evaluated included visual examination, magnetic particle examination, liquid penetrant examination, ultrasonic examination, and radiographic examination of welds. 4 refs., 14 figs., 15 tabs

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.)

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

Review of progress in quantitative NDE. [Nondestructive Evaluation (NDE)

Energy Technology Data Exchange (ETDEWEB)

1991-01-01

This booklet is composed of abstracts from papers submitted at a meeting on quantitative NDE. A multitude of topics are discussed including analysis of composite materials, NMR uses, x-ray instruments and techniques, manufacturing uses, neural networks, eddy currents, stress measurements, magnetic materials, adhesive bonds, signal processing, NDE of mechanical structures, tomography,defect sizing, NDE of plastics and ceramics, new techniques, optical and electromagnetic techniques, and nonlinear techniques. (GHH)

An overview of the NDE Center - The first decade

International Nuclear Information System (INIS)

Dau, G.J.

1990-01-01

The EPRI NDE Center was established in 1979 to provide the electrical utility industry with a dedicated NDE capability. The Center's role was defined as providing a bridge to transfer the research and development results generated by EPRI R and D programs (as well as other funding agencies) into qualified equipment and procedures in the shortest possible time. The mission is pursued through three distinct thrusts: technology transfer, training, and resource development. Technology transfer is usually accomplished by a combination of equipment and procedure evaluations and demonstrations. Specific training programs are developed to meet the specific needs of the utility industry. One feature of these programs is the reliance on realistic samples during the training programs. Resource development is oriented toward encouraging more people to pursue NDE as a career. This thrust is implemented by working with interested educational institutions to develop appropriate materials. Work in this project divides naturally into technology and training areas. NDE technology work is focused on improving the inspections applied to heat exchangers, piping, steam turbines, and heavy-section components such as the reactor pressure vessel. Training activities involve the provision of formal courses when a large number of people must become proficient in an improved technology. More details on each of these areas are given in sections that immediately follow

Surgical Nondestructive Evaluation (SuNDE)

Science.gov (United States)

2011-07-01

on a moveable pedestal) demonstrated during the program visit to CMU.......................................................45 APPENDIX LIST OF... bridge inspection, and tank inspection. The CMU research group has constructed a variety of highly articulated snake robots, which can exploit their...visit to CMU. The locomoting or free crawling snake (on the left) is observed climbing a pole. The surgical type snake on a moveable pedestal (on the

Overview of steam generator tube-inspection technology

International Nuclear Information System (INIS)

Obrutsky, L.; Renaud, J.; Lakhan, R.

2014-01-01

Degradation of steam generator (SG) tubing due to both mechanical and corrosion modes has resulted in extensive repairs and replacement of SGs around the world. The variety of degradation modes challenges the integrity of SG tubing and, therefore, the stations' reliability. Inspection and monitoring aimed at timely detection and characterization of the degradation is a key element for ensuring tube integrity. Up to the early-70's, the in-service inspection of SG tubing was carried out using single-frequency eddy current testing (ET) bobbin coils, which were adequate for the detection of volumetric degradation. By the mid-80's, additional modes of degradation such as pitting, intergranular attack, and axial and circumferential inside or outside diameter stress corrosion cracking had to be addressed. The need for timely, fast detection and characterization of these diverse modes of degradation motivated the development in the 90's of inspection systems based on advanced probe technology coupled with versatile instruments operated by fast computers and remote communication systems. SG inspection systems have progressed in the new millennium to a much higher level of automation, efficiency and reliability. Also, the role of Non Destructive Evaluation (NDE) has evolved from simple detection tools to diagnostic tools that provide input into integrity assessment decisions, fitness-far-service and operational assessments. This new role was motivated by tighter regulatory requirements to assure the safety of the public and the environment, better SG life management strategies and often self-imposed regulations. It led to the development of advanced probe technologies, more reliable and versatile instruments and robotics, better training and qualification of personnel and better data management and analysis systems. This paper provides a brief historical perspective regarding the evolution of SG inspections and analyzes the motivations behind that evolution. It presents an

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)

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)

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.

Inspection of copper canisters for spent nuclear fuel by means of ultrasound. NDE of friction stir welds, nonlinear acoustics, ultrasonic imaging

Energy Technology Data Exchange (ETDEWEB)

Stepinski, Tadeusz (ed.); Lingvall, Fredrik; Wennerstroem, Erik; Ping Wu [Uppsala Univ., Dept. of Materials Science (Sweden). Signals and Systems

2004-01-01

This report contains results concerning advanced ultrasound for the inspection of copper canisters for spent nuclear fuel obtained at Signals and Systems, Uppsala University in years 2002/2003. After a short introduction a review of the NDE techniques that have been applied to the assessment of friction stir welds (FSW) is presented. The review is based on the results reported by the specialists from the USA, mostly from the aerospace industry. A separate chapter is devoted to the extended experimental and theoretical research concerning potential of nonlinear waves in NDE applications. Further studies concerning nonlinear propagation of acoustic and elastic waves (classical nonlinearity) are reported. Also a preliminary investigation of the nonlinear ultrasonic detection of contacts and interfaces (non-classical nonlinearity) is included. Report on the continuation of previous work concerning computer simulation of nonlinear propagations of ultrasonic beams in water and in immersed solids is also presented. Finally, results of an investigation concerning a new method of synthetic aperture imaging (SAI) and its comparison to the traditional phased array (PA) imaging and to the synthetic aperture focusing technique (SAFT) are presented. A new spatial-temporal filtering method is presented that is a generalization of the previously proposed filter. Spatial resolution of the proposed method is investigated and compared experimentally to that of classical SAFT and PA imaging. Performance of the proposed method for flat targets is also investigated.

Inspection of copper canisters for spent nuclear fuel by means of ultrasound. NDE of friction stir welds, nonlinear acoustics, ultrasonic imaging

International Nuclear Information System (INIS)

Stepinski, Tadeusz; Lingvall, Fredrik; Wennerstroem, Erik; Ping Wu

2004-01-01

This report contains results concerning advanced ultrasound for the inspection of copper canisters for spent nuclear fuel obtained at Signals and Systems, Uppsala University in years 2002/2003. After a short introduction a review of the NDE techniques that have been applied to the assessment of friction stir welds (FSW) is presented. The review is based on the results reported by the specialists from the USA, mostly from the aerospace industry. A separate chapter is devoted to the extended experimental and theoretical research concerning potential of nonlinear waves in NDE applications. Further studies concerning nonlinear propagation of acoustic and elastic waves (classical nonlinearity) are reported. Also a preliminary investigation of the nonlinear ultrasonic detection of contacts and interfaces (non-classical nonlinearity) is included. Report on the continuation of previous work concerning computer simulation of nonlinear propagations of ultrasonic beams in water and in immersed solids is also presented. Finally, results of an investigation concerning a new method of synthetic aperture imaging (SAI) and its comparison to the traditional phased array (PA) imaging and to the synthetic aperture focusing technique (SAFT) are presented. A new spatial-temporal filtering method is presented that is a generalization of the previously proposed filter. Spatial resolution of the proposed method is investigated and compared experimentally to that of classical SAFT and PA imaging. Performance of the proposed method for flat targets is also investigated

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)

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

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)

Nuclear power plant pressure vessels. Inservice inspections

International Nuclear Information System (INIS)

1995-01-01

The requirements for the planning and reporting of inservice inspections of nuclear power plant pressure vessels are presented. The guide specifically applies to inservice inspections of Safety class 1 and 2 nuclear power plant pressure vessels, piping, pumps and valves plus their supports and reactor pressure vessel internals by non- destructive examination methods (NDE). Inservice inspections according to the Pressure Vessel Degree (549/73) are discussed separately in the guide YVL 3.0. (4 refs.)

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)

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

Robotic 3D SQUID imaging system for practical nondestructive evaluation applications

International Nuclear Information System (INIS)

Isawa, K.; Nakayama, S.; Ikeda, M.; Takagi, S.; Tosaka, S.; Kasai, N.

2005-01-01

A robotic three-dimensional (3D) scanning superconducting quantum interference device (SQUID) imaging system was developed for practical nondestructive evaluation (NDE) applications. The major feature of this SQUID-NDE system is that the SQUID sensor itself scans in 3D by traveling over the surface of an object during testing without the need for magnetic shielding. This imaging system consists of (i) DC-SQUID gradiometer for effective movement of the sensor, (ii) SQUID sensor manipulator utilizing an articulated-type robot used in industry, (iii) laser charge-coupled-device (CCD) displacement sensor to measure the 3D coordinates of points on the surface of the object, and (iv) computer-aided numerical interpolation scheme for 3D surface reconstruction of the object. The applicability of this system for NDE was demonstrated by successfully detecting artificial damage of cylindrical-shaped steel tubes

Micro- and nano-NDE systems for aircraft: great things in small packages

Science.gov (United States)

Malas, James C.; Kropas-Hughes, Claudia V.; Blackshire, James L.; Moran, Thomas; Peeler, Deborah; Frazier, W. G.; Parker, Danny

2003-07-01

Recent advancements in small, microscopic NDE sensor technologies will revolutionize how aircraft maintenance is done, and will significantly improve the reliability and airworthiness of current and future aircraft systems. A variety of micro/nano systems and concepts are being developed that will enable whole new capabilities for detecting and tracking structural integrity damage. For aging aircraft systems, the impact of micro-NDE sensor technologies will be felt immediately, with dramatic reductions in labor for maintenance, and extended useable life of critical components being two of the primary benefits. For the fleet management of future aircraft systems, a comprehensive evaluation and tracking of vehicle health throughout its entire life cycle will be needed. Indeed, micro/nano NDE systems will be instrumental in realizing this futuristic vision. Several major challenges will need to be addressed, however, before micro- and nano-NDE systems can effectively be implemented, and this will require interdisciplinary research approaches, and a systematic engineering integration of the new technologies into real systems. Future research will need to emphasize systems engineering approaches for designing materials and structures with in-situ inspection and prognostic capabilities. Recent advances in 1) embedded / add-on micro-sensors, 2) computer modeling of nondestructive evaluation responses, and 3) wireless communications are important steps toward this goal, and will ultimately provide previously unimagined opportunities for realizing whole new integrated vehicle health monitoring capabilities. The future use of micro/nano NDE technologies as vehicle health monitoring tools will have profound implications, and will provide a revolutionary way of doing NDE in the near and distant future.

Ultrasonic system for NDE of fruits and vegetables

International Nuclear Information System (INIS)

Jhang, Kyung Young; Jung, Gyoo Hong; Kim, Man Soo

1999-01-01

The nondestructive internal quality evaluation of agricultural products has been strongly required from the needs for individual inspection. In recent, ultrasonic wave has been considered as a solution for this problem. This study is to construct the ultrasonic inspection system for fruits and vegetables on the basis of pre-knowledge that general frequency band(higher than 100 kHz) ultrasonic waves do not transmitted well due to severe attenuation. Our system includes ultrasonic pulser and receiver, transducers(50 kHz), acoustic hem, pneumatic controller and signal processing units (PC). In order to confirm the performance, several samples (apple, pear, persimmon, kiwi fruit, potato and radish) were tested, and the results showed sufficient possibility to apply to NDE of fruits and vegetables.

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

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)

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)

Directed Design of Experiments for Validating Probability of Detection Capability of NDE Systems (DOEPOD)

Science.gov (United States)

Generazio, Edward R.

2015-01-01

Directed Design of Experiments for Validating Probability of Detection Capability of NDE Systems (DOEPOD) Manual v.1.2 The capability of an inspection system is established by applications of various methodologies to determine the probability of detection (POD). One accepted metric of an adequate inspection system is that there is 95% confidence that the POD is greater than 90% (90/95 POD). Design of experiments for validating probability of detection capability of nondestructive evaluation (NDE) systems (DOEPOD) is a methodology that is implemented via software to serve as a diagnostic tool providing detailed analysis of POD test data, guidance on establishing data distribution requirements, and resolving test issues. DOEPOD demands utilization of observance of occurrences. The DOEPOD capability has been developed to provide an efficient and accurate methodology that yields observed POD and confidence bounds for both Hit-Miss or signal amplitude testing. DOEPOD does not assume prescribed POD logarithmic or similar functions with assumed adequacy over a wide range of flaw sizes and inspection system technologies, so that multi-parameter curve fitting or model optimization approaches to generate a POD curve are not required. DOEPOD applications for supporting inspector qualifications is included.

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)

New concepts, requirements and methods concerning the periodic inspection of the CANDU fuel channels

International Nuclear Information System (INIS)

Denis, J.R.

1995-01-01

Periodic inspection of fuel channels is essential for a proper assessment of the structural integrity of these vital components of the reactor. The development of wet channel technologies for non-destructive examination (NDE) of pressure tubes and the high technical performance and reliability of the CIGAR equipment have led, in less than 1 0 years, to the accumulation of a very significant volume of data concerning the flaw mechanisms and structural behaviour of the CANDU fuel channels. On this basis, a new form of the CAN/CSA-N285.4 Standard for Periodic Inspection of CANDU Nuclear Power Plant components was elaborated, introducing new concepts and requirements, in accord with the powerful NDE methods now available. This paper presents these concepts and requirements, and discusses the NDE methods, presently used or under development, to satisfy these requirements. Specific features regarding the fuel channel inspections of Cernavoda NGS Unit 1 are also discussed. (author)

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

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)

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

In service inspection and repair of sodium cooled ASTRID prototype

Energy Technology Data Exchange (ETDEWEB)

Baque, F.; Jadot, F. [French Atomic Commission, Cadarache Centre, 13108 Saint Paul lez Durance Cedex, (France); Marlier, R. [AREVA, 10 rue Recamier, 69456 Lyon cedex 06, (France); Saillant, J-F. [AREVA/NDE Solutions, 4 rue Thomas Dumorey, BP 70385, 71109 Chalon sur Saone Cedex, (France); Delalande, V. [EDF R and D, 6, quai Watier, 78400 Chatou, (France)

2015-07-01

In the frame of the large R and D work which is performed for the future ASTRID sodium cooled prototype, In Service Inspection and Repair (ISI and R) has been identified as a major issue to be taken into account in order to enlarge the plant safety, to consolidate its availability and to protect the associated investment. After the first part of pre-conceptual design phase (2008-2012), the running second part of pre-conceptual phase (2013-2015) allows to increase the ISI and R tool ability for immersed sodium structures of ASTRID, at about 200 deg. C, on the basis of consolidated specifications and thanks to their qualification through more and more realistic laboratory tests and simulation with CIVA code. ISI and R items are being developed and qualified during a pluri-annual program which mainly deals with the reactor block structures, the primary components and circuit, and the Power Conversion System. It ensures a strong connection between the reactor designers and inspection specialists, as the optimization of inspectability and repairability is looked at: this already induced specific rules for design, in order to shorten and ease the ISI and R operations, which have been merged into RCC-MRx rules. In the frame of increasing technology readiness level with corresponding performance demonstration, this paper presents R and D dealing with the ISI and R items: it highlights the sensor development (both ultrasonic and electromagnetic concepts, compatible with sodium at 200 deg. C), then their applications for ASTRID structure control (under sodium telemetry, imaging and NDE). Activity for repair is also presented (a single laser tool for sodium sweeping, machining and welding), and finally the effort for associated robotic (generic program for ASTRID applications, specific technological tools for sodium medium, tight immersed bell). The main results of testing and simulation are given for telemetry, vision, NDE applications, laser process repair and under sodium

NDE for Characterizing Oxidation Damage in Reinforced Carbon-Carbon

Science.gov (United States)

Roth, Don J.; Rauser, Richard W.; Jacobson, nathan S.; Wincheski, Russell A.; Walker, James L.; Cosgriff, Laura A.

2009-01-01

In this study, coated reinforced carbon-carbon (RCC) samples of similar structure and composition as that from the NASA space shuttle orbiter s thermal protection system were fabricated with slots in their coating simulating craze cracks. These specimens were used to study oxidation damage detection and characterization using NDE methods. These specimens were heat treated in air at 1143 and 1200 C to create cavities in the carbon substrate underneath the coating as oxygen reacted with the carbon and resulted in its consumption. The cavities varied in diameter from approximately 1 to 3 mm. Single-sided NDE methods were used since they might be practical for on-wing inspection, while x-ray micro-computed tomography (CT) was used to measure cavity sizes in order to validate oxidation models under development for carbon-carbon materials. An RCC sample having a naturally-cracked coating and subsequent oxidation damage was also studied with x-ray micro-CT. This effort is a follow-on study to one that characterized NDE methods for assessing oxidation damage in an RCC sample with drilled holes in the coating. The results of that study are briefly reviewed in this article as well. Additionally, a short discussion on the future role of simulation to aid in these studies is provided.

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.

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.

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

Considerations for ultrasonic testing application for on-orbit NDE

Science.gov (United States)

Koshti, Ajay M.

2015-04-01

The paper addresses some on-orbit nondestructive evaluation (NDE) needs of NASA for International Space Station (ISS). The presentation gives NDE requirements for inspecting suspect damage due to micro-meteoroids and orbital debris (MMOD) impact on the pressure wall of the ISS. This inspection is meant to be conducted from inside of the ISS module. The metallic wall of the module has a fixed wall thickness but also has integral orthogrid ribs for reinforcement. Typically, a single MMOD hit causes localized damage in a small area causing loss of material similar to pitting corrosion, but cracks may be present too. The impact may cause bulging of the wall. Results of the ultrasonic and eddy current demonstration scans on test samples are provided. The ultrasonic technique uses shear wave scans to interrogate the localized damage area from the surrounding undamaged area. The scanning protocol results in multiple scans, each with multiple "vee" paths. A superimposition and mosaic of the three-dimensional ultrasonic data from individual scans is desired to create C-scan images of the damage. This is a new data reduction process which is not currently implemented in state-of-art ultrasonic instruments. Results of ultrasonic scans on the simulated MMOD damage test plates are provided. The individual C-scans are superimposed manually creating mosaic of the inspection. The resulting image is compared with visibly detected damage boundaries, X-ray images, and localized ultrasonic and eddy current scans for locating crack tips to assess effectiveness of the ultrasonic scanning. The paper also discusses developments needed in improving ergonomics of the ultrasonic testing for on-orbit applications.

Overview of steam generator tube-inspection technology

Energy Technology Data Exchange (ETDEWEB)

Obrutsky, L.; Renaud, J.; Lakhan, R., E-mail: obrutskl@aecl.ca, E-mail: renaudj@aecl.ca, E-mail: lakhanr@aecl.ca [Atomic Energy of Canada Limited, Chalk River, Ontario (Canada)

2014-03-15

Degradation of steam generator (SG) tubing due to both mechanical and corrosion modes has resulted in extensive repairs and replacement of SGs around the world. The variety of degradation modes challenges the integrity of SG tubing and, therefore, the stations' reliability. Inspection and monitoring aimed at timely detection and characterization of the degradation is a key element for ensuring tube integrity. Up to the early-70's, the in-service inspection of SG tubing was carried out using single-frequency eddy current testing (ET) bobbin coils, which were adequate for the detection of volumetric degradation. By the mid-80's, additional modes of degradation such as pitting, intergranular attack, and axial and circumferential inside or outside diameter stress corrosion cracking had to be addressed. The need for timely, fast detection and characterization of these diverse modes of degradation motivated the development in the 90's of inspection systems based on advanced probe technology coupled with versatile instruments operated by fast computers and remote communication systems. SG inspection systems have progressed in the new millennium to a much higher level of automation, efficiency and reliability. Also, the role of Non Destructive Evaluation (NDE) has evolved from simple detection tools to diagnostic tools that provide input into integrity assessment decisions, fitness-far-service and operational assessments. This new role was motivated by tighter regulatory requirements to assure the safety of the public and the environment, better SG life management strategies and often self-imposed regulations. It led to the development of advanced probe technologies, more reliable and versatile instruments and robotics, better training and qualification of personnel and better data management and analysis systems. This paper provides a brief historical perspective regarding the evolution of SG inspections and analyzes the motivations behind that

Developments in mechanical ultrasonic inspection and qualification of NDE

International Nuclear Information System (INIS)

Kauppinen, P.; Pitkaenen, J.; Kuusinen, P.

2001-01-01

Reliability of non-destructive testing results has a direct influence on structural integrity assessment and safety of the inspected structures e.g. NPP primary circuit pressure boundaries. Advanced technology together with highly skilled and experienced personnel is required. One of the current trends is automation. Mechanised equipment can replace tedious manual work in positioning and moving of the transducers. Large areas can be scanned, analysed and numerically documented for direct comparison of eventual later repeated inspections. Another major trend is qualification, which aims to ensure that the inspection results are correct and fit the purpose. The suitability and proper operation of equipment, methods and personnel i.e. the whole chain shall be proven. This presentation summarises the advances in automation and qualification of non-destructive inspection during the second project year, Monitoring of material degradation was included in the studied topics and will also be shortly described. (author)

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.

Non-destructive inspection protocol for reinforced concrete barriers and bridge railings

Energy Technology Data Exchange (ETDEWEB)

Chintakunta, Satish R. [Engineering and Software Consultants, Inc., 14123 Robert Paris Ct., Chantilly, VA 20151 (United States); Boone, Shane D. [Federal Highway Administration, Turner Fairbank Highway Research Center, 6300 Georgetown Pike, McLean, VA 22101 (United States)

2014-02-18

Reinforced concrete highway barriers and bridge railings serve to prevent errant vehicles from departing the travel way at grade separations. Despite the important role that they play in maintaining safety and their ubiquitous nature, barrier inspection rarely moves beyond visual inspection. In August 2008, a tractor-trailer fatally departed William Preston Lane, Jr. Memorial Bridge after it dislodged a section of the bridge barrier. Investigations following the accident identified significant corrosion of the anchor bolts attaching the bridge railing to the bridge deck. As a result of the information gathered during its investigation of the accident, the National Transportation Safety Board (NTSB) made recommendations to the Federal Highway Administration concerning Non-Destructive Evaluation (NDE) of concrete bridge railings. The Center for nondestructive evaluation (NDE) at Turner Fairbank Highway Research Center in McLean, VA is currently evaluating feasibility of using four technologies - ground penetrating radar (GPR), ultrasonic pulse-echo, digital radiography and infrared thermal imaging methods to develop bridge inspection methods that augment visual inspections, offer reliable measurement techniques, and are practical, both in terms of time and cost, for field inspection work. Controlled samples containing predefined corrosion levels in reinforcing steel were embedded at barrier connection points for laboratory testing. All four NDE techniques were used in the initial phase I testing. An inspection protocol for detecting and measuring the corrosion of reinforced steel embedded in the anchorage system will be developed as part of phase II research. The identified technologies shall be further developed for field testing utilizing a structure with a barrier in good condition and a structure with a barrier in poor condition.

Non-destructive inspection protocol for reinforced concrete barriers and bridge railings

Science.gov (United States)

Chintakunta, Satish R.; Boone, Shane D.

2014-02-01

Reinforced concrete highway barriers and bridge railings serve to prevent errant vehicles from departing the travel way at grade separations. Despite the important role that they play in maintaining safety and their ubiquitous nature, barrier inspection rarely moves beyond visual inspection. In August 2008, a tractor-trailer fatally departed William Preston Lane, Jr. Memorial Bridge after it dislodged a section of the bridge barrier. Investigations following the accident identified significant corrosion of the anchor bolts attaching the bridge railing to the bridge deck. As a result of the information gathered during its investigation of the accident, the National Transportation Safety Board (NTSB) made recommendations to the Federal Highway Administration concerning Non-Destructive Evaluation (NDE) of concrete bridge railings. The Center for nondestructive evaluation (NDE) at Turner Fairbank Highway Research Center in McLean, VA is currently evaluating feasibility of using four technologies - ground penetrating radar (GPR), ultrasonic pulse-echo, digital radiography and infrared thermal imaging methods to develop bridge inspection methods that augment visual inspections, offer reliable measurement techniques, and are practical, both in terms of time and cost, for field inspection work. Controlled samples containing predefined corrosion levels in reinforcing steel were embedded at barrier connection points for laboratory testing. All four NDE techniques were used in the initial phase I testing. An inspection protocol for detecting and measuring the corrosion of reinforced steel embedded in the anchorage system will be developed as part of phase II research. The identified technologies shall be further developed for field testing utilizing a structure with a barrier in good condition and a structure with a barrier in poor condition.

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

ENIQ: European Network for Inspection Qualification: Status report

International Nuclear Information System (INIS)

Champigny, F.; Sandberg, U.; Crutzen, S.; Lemaitre, P.

1998-01-01

The European Network for Inspection Qualification (ENIQ) groups the major part of the nuclear power plant operators in the European Union (and Switzerland). The main objective of ENIQ is to co-ordinate and manage at European level expertise and resources for the qualification of NDE inspection systems, primarily for nuclear components. In this paper the main activities, organisation and actual status of ENIQ are discussed. (author)

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.

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

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)

NDE of Damage in Aircraft Flight Control Surfaces

International Nuclear Information System (INIS)

Hsu, David K.; Barnard, Daniel J.; Dayal, Vinay

2007-01-01

Flight control surfaces on an aircraft, such as ailerons, flaps, spoilers and rudders, are typically adhesively bonded composite or aluminum honeycomb sandwich structures. These components can suffer from damage caused by hail stone, runway debris, or dropped tools during maintenance. On composites, low velocity impact damages can escape visual inspection, whereas on aluminum honeycomb sandwich, budding failure of the honeycomb core may or may not be accompanied by a disbond. This paper reports a study of the damage morphology in such structures and the NDE methods for detecting and characterizing them. Impact damages or overload failures in composite sandwiches with Nomex or fiberglass core tend to be a fracture or crinkle or the honeycomb cell wall located a distance below the facesheet-to-core bondline. The damage in aluminum honeycomb is usually a buckling failure, propagating from the top skin downward. The NDE methods used in this work for mapping out these damages were: air-coupled ultrasonic scan, and imaging by computer aided tap tester. Representative results obtained from the field will be shown

Quantitative ultrasonic coda wave (diffuse field) NDE of carbon-fiber reinforced polymer plates

Science.gov (United States)

Livings, Richard A.

The increasing presence and applications of composite materials in aerospace structures precipitates the need for improved Nondestructive Evaluation (NDE) techniques to move from simple damage detection to damage diagnosis and structural prognosis. Structural Health Monitoring (SHM) with advanced ultrasonic (UT) inspection methods can potentially address these issues. Ultrasonic coda wave NDE is one of the advanced methods currently under investigation. Coda wave NDE has been applied to concrete and metallic specimens to assess damage with some success, but currently the method is not fully mature or ready to be applied for SHM. Additionally, the damage diagnosis capabilities and limitations of coda wave NDE applied to fibrous composite materials have not been widely addressed in literature. The central objective of this work, therefore, is to develop a quantitative foundation for the use of coda wave NDE for the inspection and evaluation of fibrous composite materials. Coda waves are defined as the superposition of late arriving wave modes that have been scattered or reflected multiple times. This results in long, complex signals where individual wave modes cannot be discriminated. One method of interpreting the changes in such signals caused by the introduction or growth of damage is to isolate and quantify the difference between baseline and damage signals. Several differential signal features are used in this work to quantify changes in the coda waves which can then be correlated to damage size and growth. Experimental results show that coda wave differential features are effective in detecting drilled through-holes as small as 0.4 mm in a 50x100x6 mm plate and discriminating between increasing hole diameter and increasing number of holes. The differential features are also shown to have an underlying basis function that is dependent on the hole volume and can be scaled by a material dependent coefficient to estimate the feature amplitude and size holes. The

ENIQ: European Network for Inspection Qualification

International Nuclear Information System (INIS)

Champigny, F.; Crutzen, S.; Lemaitre, P.

1995-01-01

Many countries are currently considering their own approach to inspection qualification and are carefully assessing experience to date. ENIQ, which stands for European Network for Inspection Qualification, groups the major part of the utilities in Western Europe. The general objective of ENIQ is to coordinate and manage at European level expertise and resources for the assessment and qualification of NDE inspection techniques and procedures, primarily for nuclear components. Also non-nuclear heavy duty components will be considered. Within ENIQ there is a growing consensus of opinion on the general principles of a European approach towards inspection qualification. In this paper the main activities, organization and actual status of ENIQ will be discussed

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

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.

Nondestructive examination technologies for inspection of radioactive waste storage tanks

International Nuclear Information System (INIS)

Anderson, M.T.; Kunerth, D.C.; Davidson, J.R.

1995-08-01

The evaluation of underground radioactive waste storage tank structural integrity poses a unique set of challenges. Radiation fields, limited access, personnel safety and internal structures are just some of the problems faced. To examine the internal surfaces a sensor suite must be deployed as an end effector on a robotic arm. The purpose of this report is to examine the potential failure modes of the tanks, rank the viability of various NDE technologies for internal surface evaluation, select a technology for initial EE implementation, and project future needs for NDE EE sensor suites

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

Piping inspection round robin

International Nuclear Information System (INIS)

Heasler, P.G.; Doctor, S.R.

1996-04-01

The piping inspection round robin was conducted in 1981 at the Pacific Northwest National Laboratory (PNNL) to quantify the capability of ultrasonics for inservice inspection and to address some aspects of reliability for this type of nondestructive evaluation (NDE). The round robin measured the crack detection capabilities of seven field inspection teams who employed procedures that met or exceeded the 1977 edition through the 1978 addenda of the American Society of Mechanical Engineers (ASME) Section 11 Code requirements. Three different types of materials were employed in the study (cast stainless steel, clad ferritic, and wrought stainless steel), and two different types of flaws were implanted into the specimens (intergranular stress corrosion cracks (IGSCCs) and thermal fatigue cracks (TFCs)). When considering near-side inspection, far-side inspection, and false call rate, the overall performance was found to be best in clad ferritic, less effective in wrought stainless steel and the worst in cast stainless steel. Depth sizing performance showed little correlation with the true crack depths

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)

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

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

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.

The interaction of NDE and failure analysis

International Nuclear Information System (INIS)

Nichols, R.W.

1988-01-01

This paper deals with the use of Non-Destructive Examination (NDE) and failure analysis for the assessment of the structural integrity. It appears that failure analysis enables to know whether NDE is required or not, and can help to direct NDE into the most useful directions by identifying the areas where it is most important that defects are absent. It also appears that failure analysis can help the operator to decide which NDE method is best suited to the component studied and provides detailed specifications for this NDE method. The interaction between failure analysis and NDE is then described. (TEC)

The interaction of NDE and failure analysis

Energy Technology Data Exchange (ETDEWEB)

Nichols, R W

1988-12-31

This paper deals with the use of Non-Destructive Examination (NDE) and failure analysis for the assessment of the structural integrity. It appears that failure analysis enables to know whether NDE is required or not, and can help to direct NDE into the most useful directions by identifying the areas where it is most important that defects are absent. It also appears that failure analysis can help the operator to decide which NDE method is best suited to the component studied and provides detailed specifications for this NDE method. The interaction between failure analysis and NDE is then described. (TEC).

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

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

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.

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.)

Transportation of hydrogen in pipelines: interaction of NDE and material requirements

International Nuclear Information System (INIS)

Thompson, R.B.; Thompson, A.W.; Thompson, D.O.

1976-01-01

The role of nondestructive evaluation (NDE) of materials used in H pipelines and storage facilities is examined. NDE techniques are available which detect critical flaws in today's natural gas lines, and which should have some success in hydrogen lines made of resistant materials. However, the critical flaws in a hydrogen line which is built of a steel whose toughness is significantly reduced in hydrogen, or which contains low-toughness defects such as weld hard spots, would be extremely difficult to detect with today's instrumentation. That instrumentation is designed to test efficiently long lengths of line with minimum disruption of service. Technology is available that would be capable of the more detailed inspection required for the smaller defects. However, the equipment might be expensive and time-consuming to operate, and these costs must be included in the overall assessment of a system using existing lines without embrittlement protection. In addition, it is evident that strong motivation exists to construct new facilities from steels with improved resistance to hydrogen

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.

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.

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...

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.

NDE to Manage Atmospheric SCC in Canisters for Dry Storage of Spent Fuel: An Assessment

Energy Technology Data Exchange (ETDEWEB)

Meyer, Ryan M. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Pardini, Allan F. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Cuta, Judith M. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Adkins, Harold E. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Casella, Andrew M. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Qiao, Hong [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Larche, Michael R. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Diaz, Aaron A. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States); Doctor, Steven R. [Pacific Northwest National Lab. (PNNL), Richland, WA (United States)

2013-09-01

This report documents efforts to assess representative horizontal (Transuclear NUHOMS®) and vertical (Holtec HI-STORM) storage systems for the implementation of non-destructive examination (NDE) methods or techniques to manage atmospheric stress corrosion cracking (SCC) in canisters for dry storage of used nuclear fuel. The assessment is conducted by assessing accessibility and deployment, environmental compatibility, and applicability of NDE methods. A recommendation of this assessment is to focus on bulk ultrasonic and eddy current techniques for direct canister monitoring of atmospheric SCC. This assessment also highlights canister regions that may be most vulnerable to atmospheric SCC to guide the use of bulk ultrasonic and eddy current examinations. An assessment of accessibility also identifies canister regions that are easiest and more difficult to access through the ventilation paths of the concrete shielding modules. A conceivable sampling strategy for canister inspections is to sample only the easiest to access portions of vulnerable regions. There are aspects to performing an NDE inspection of dry canister storage system (DCSS) canisters for atmospheric SCC that have not been addressed in previous performance studies. These aspects provide the basis for recommendations of future efforts to determine the capability and performance of eddy current and bulk ultrasonic examinations for atmospheric SCC in DCSS canisters. Finally, other important areas of investigation are identified including the development of instrumented surveillance specimens to identify when conditions are conducive for atmospheric SCC, characterization of atmospheric SCC morphology, and an assessment of air flow patterns over canister surfaces and their influence on chloride deposition.

Current deflection NDE for pipeline inspection and monitoring

Science.gov (United States)

Jarvis, Rollo; Cawley, Peter; Nagy, Peter B.

2016-02-01

Failure of oil and gas pipelines can often be catastrophic, therefore routine inspection for time dependent degradation is essential. In-line inspection is the most common method used; however, this requires the insertion and retrieval of an inspection tool that is propelled by the fluid in the pipe and risks becoming stuck, so alternative methods must often be employed. This work investigates the applicability of a non-destructive evaluation technique for both the detection and growth monitoring of defects, particularly corrosion under insulation. This relies on injecting an electric current along the pipe and indirectly measuring the deflection of current around defects from perturbations in the orthogonal components of the induced magnetic flux density. An array of three orthogonally oriented anisotropic magnetoresistive sensors has been used to measure the magnetic flux density surrounding a 6'' schedule-40 steel pipe carrying 2 A quasi-DC axial current. A finite element model has been developed that predicts the perturbations in magnetic flux density caused by current deflection which has been validated by experimental results. Measurements of the magnetic flux density at 50 mm lift-off from the pipe surface are stable and repeatable to the order of 100 pT which suggests that defect detection or monitoring growth of corrosion-type defects may be possible with a feasible magnitude of injected current. Magnetic signals are additionally incurred by changes in the wall thickness of the pipe due to manufacturing tolerances, and material property variations. If a monitoring scheme using baseline subtraction is employed then the sensitivity to defects can be improved while avoiding false calls.

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.)

U.S. Industry Activities on Inspection of CRDM Penetrations

International Nuclear Information System (INIS)

Alley, Tom; Kietzman, Kim; Ammirato, Frank

2002-01-01

The discovery of primary water stress corrosion cracking (PWSCC) in control rod drive mechanisms (CRDM) penetrations in U.S. and European plants prompted the U.S. nuclear industry to focus considerable effort on development and implementation of effective inspection methods. In particular, cracking was discovered in butt welds connecting reactor vessel nozzles to main coolant piping and in control rod drive mechanism (CRDM) head penetration base material and attachment welds. The EPRI Materials Reliability Program (EPRI-MRP) formed an Inspection Committee to address development of industry guidance for inspection of these components, development of effective non-destructive examination (NDE) methods, and demonstration of inspection processes. This paper discusses the MRP activities pertaining to inspection of CRDM penetrations. Results of demonstrations and field inspections conducted will also be summarized. (authors)

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.

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.

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.

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)

25 years of NDE in fabrication of zirconium alloy mill products and nuclear fuel in the Nuclear Fuel Complex

International Nuclear Information System (INIS)

Mistry, R.K.; Laxminarayana, B.; Srivastava, R.K.

1996-01-01

Failure of nuclear fuel is highly undesirable from both economic and operational aspects. Hence all the components require rigorous QC and inspection checks. NDT plays a major role in assuring the quality of the products both at final and intermediate stages. This paper gives an overall review of NDT methods employed in achieving the integrity of nuclear products. The NDE procedures followed in NFC are visual inspection, radiography, penetrant testing, eddy current testing, ultrasonic testing and helium leak testing. NFC's quality assurance programme is organised to achieve the desired objectives by carrying out in process and final inspection at all critical steps of fabrication. (author)

Review of progress in quantitative NDE

International Nuclear Information System (INIS)

1991-01-01

This booklet is composed of abstracts from papers submitted at a meeting on quantitative NDE. A multitude of topics are discussed including analysis of composite materials, NMR uses, x-ray instruments and techniques, manufacturing uses, neural networks, eddy currents, stress measurements, magnetic materials, adhesive bonds, signal processing, NDE of mechanical structures, tomography,defect sizing, NDE of plastics and ceramics, new techniques, optical and electromagnetic techniques, and nonlinear techniques

Artist - analytical RT inspection simulation tool

International Nuclear Information System (INIS)

Bellon, C.; Jaenisch, G.R.

2007-01-01

The computer simulation of radiography is applicable for different purposes in NDT such as for the qualification of NDT systems, the prediction of its reliability, the optimization of system parameters, feasibility analysis, model-based data interpretation, education and training of NDT/NDE personnel, and others. Within the framework of the integrated project FilmFree the radiographic testing (RT) simulation software developed by BAM is being further developed to meet practical requirements for inspection planning in digital industrial radiology. It combines analytical modelling of the RT inspection process with the CAD-orientated object description applicable to various industrial sectors such as power generation, railways and others. (authors)

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.)

The ASME research task force on risk-based in-service inspection

International Nuclear Information System (INIS)

Balkey, K.R.; Chapman, O.J.V.

1997-01-01

The use of risk-based methods in the development of in-service inspection (ISI) and in-service testing (IST) programs for nuclear power plant and other industrial applications has been studied for the last several years through the American Society of Mechanical Engineers Centre for Research and Technology Development (ASME 1991, 1992, 1994, 1996). The results of this work are being used as a foundation to develop specific requirements for implementation of risk-based technology in ASME Codes and Standards, regulatory requirements and industry programs both in the U.S. and other countries. This paper provides a brief overview of the ASME Research Methodology and how it has been adapted for application to the inspection of piping within the USA. It also relates how the reliability of nondestructive examination (NDE) methods for pressure boundary components can impact the risk and discusses the relationship between this and NDE qualification/demonstration now being implemented in Europe and the USA. (orig.)

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

NDE Big Data Framework, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — NDE data has become "Big Data", and is overwhelming the abilities of NDE technicians and commercially available tools to deal with it. In the current state of the...

Advanced Inspection and Repair Welding Techniques for SCC Countermeasures

International Nuclear Information System (INIS)

Takagi, T.; Nishimoto, K.; Uchimoto, T.

2012-01-01

Feasibility studies of advanced inspection and repair welding techniques were conducted in the framework of the Nuclear and Industry Safety Agency of Japan (NISA) project on the enhancement of ageing management and maintenance of NPPs. In this paper, features of NDE methods investigated in the projects, main results of research activities and prospect of nickel based alloy weld inspection are discussed. We also make a review for the integrity and reliability evaluation techniques for repair welding of ageing plants which were intensively investigated in view of regulatory criteria, in NISA project. (author)

Applications of CIVA NDE 10 on Eddy Current Modeling

International Nuclear Information System (INIS)

Nurul Ain Ahmad Latif; Ilham Mukhriz Zainal Abidin; AABdul Razak Hamzah

2011-01-01

CIVA NDE 10 is the simulation software and used as the platform to develop the models dedicated to Eddy Current testing (ET). It has various application in semi analytical modeling approaches. The focus of this paper is to simulate the signals response on the 40 % external groove of the Inconel 600 heat exchanger tubes with outside diameter of 22.22 mm. The inspection were simulated using 17 mm outside diameter differential probe with 100 kHz and 500 kHZ testing frequency. All the simulation results were validated using the experimental results integrated in the CIVA software. The configurations of the probe and tube consisting the flaw show the good agreement between the experimental and the simulated data. (author)

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.

Inspection of nuclear reactor welding by acoustic emission

International Nuclear Information System (INIS)

Prine, D.W.

1977-01-01

The objective of the work described is to evaluate in-process acoustic emission weld monitoring with the goal of upgrading the inspection techniques for assuring better weld quality in nuclear reactor piping and pressure vessels. To accomplish this overall objective, the following specific goals have been set within a three year program: (1) prove the feasibility of in-process AE under shop conditions and validate the AE findings by currently acceptable NDE techniques; (2) develop and build a prototype monitor for use in Nuclear Fabrication shops; and (3) provide data for NRC/ASME acceptance of the inspection practice

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

Thermographic inspection of pipes, tanks, and containment liners

Energy Technology Data Exchange (ETDEWEB)

Renshaw, Jeremy B., E-mail: jrenshaw@epri.com; Muthu, Nathan [Electric Power Research Institute, 1300 West WT Harris Blvd., Charlotte, NC 28262 (United States); Lhota, James R.; Shepard, Steven M., E-mail: sshepard@thermalwave.com [Thermal Wave Imaging, 845 Livernois St., Ferndale, MI 48220 (United States)

2015-03-31

Nuclear power plants are required to operate at a high level of safety. Recent industry and license renewal commitments aim to further increase safety by requiring the inspection of components that have not traditionally undergone detailed inspected in the past, such as tanks and liners. NEI 09-14 requires the inspection of buried pipes and tanks while containment liner inspections are required as a part of license renewal commitments. Containment liner inspections must inspect the carbon steel liner for defects - such as corrosion - that could threaten the pressure boundary and ideally, should be able to inspect the surrounding concrete for foreign material that could be in contact with the steel liner and potentially initiate corrosion. Such an inspection requires a simultaneous evaluation of two materials with very different material properties. Rapid, yet detailed, inspection results are required due to the massive size of the tanks and containment liners to be inspected. For this reason, thermal NDE methods were evaluated to inspect tank and containment liner mockups with simulated defects. Thermographic Signal Reconstruction (TSR) was utilized to enhance the images and provide detailed information on the sizes and shapes of the observed defects. The results show that thermographic inspection is highly sensitive to the defects of interest and is capable of rapidly inspecting large areas.

Evaluation of creep-fatigue crack growth for large-scale FBR reactor vessel and NDE assessment

Energy Technology Data Exchange (ETDEWEB)

Joo, Young Sang; Kim, Jong Bum; Kim, Seok Hun; Yoo, Bong

2001-03-01

Creep fatigue crack growth contributes to the failure of FRB reactor vessels in high temperature condition. In the design stage of reactor vessel, crack growth evaluation is very important to ensure the structural safety and setup the in-service inspection strategy. In this study, creep-fatigue crack growth evaluation has been performed for the semi-elliptical surface cracks subjected to thermal loading. The thermal stress analysis of a large-scale FBR reactor vessel has been carried out for the load conditions. The distributions of axial, radial, hoop, and Von Mises stresses were obtained for the loading conditions. At the maximum point of the axial and hoop stress, the longitudinal and circumferential surface cracks (i.e. PTS crack, NDE short crack and shallow long crack) were postulated. Using the maximum and minimum values of stresses, the creep-fatigue crack growth of the proposed cracks was simulated. The crack growth rate of circumferential cracks becomes greater than that of longitudinal cracks. The total crack growth of the largest PTS crack is very small after 427 cycles. The structural integrity of a large-scale reactor can be maintained for the plant life. The crack depth growth of the shallow long crack is faster than that of the NDE short crack. In the ISI of the large-scale FBR reactor vessel, the ultrasonic inspection is beneficial to detect the shallow circumferential cracks.

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...

A robotic end effector for inspection of storage tanks

Energy Technology Data Exchange (ETDEWEB)

Hughes, G.; Gittleman, M. [Oceaneering Space Systems, Houston, TX (United States)

1995-10-01

The structural integrity of waste storage tanks is of primary importance to the DOE, and is one aspect of the High-Level Waste Tank Remediation focus area. Cracks and/or corrosion damage in the inner tank walls can lead to the release of dangerous substances into the environment. The detection and sizing of corrosion and cracking in steel tank walls through remote non destructive evaluation (NDE) is the primary focus of this work.

A robotic end effector for inspection of storage tanks

International Nuclear Information System (INIS)

Hughes, G.; Gittleman, M.

1995-01-01

The structural integrity of waste storage tanks is of primary importance to the DOE, and is one aspect of the High-Level Waste Tank Remediation focus area. Cracks and/or corrosion damage in the inner tank walls can lead to the release of dangerous substances into the environment. The detection and sizing of corrosion and cracking in steel tank walls through remote non destructive evaluation (NDE) is the primary focus of this work

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.

Review of NRC-funded programs on NDE at Pacific Northwest Laboratory

International Nuclear Information System (INIS)

Doctor, S.R.

1983-04-01

There are currently four major NDT related programs in progress at PNL which are funded by the US Nuclear Regulatory Commission. These programs are Integration of NDE and Fracture Mechanics Program, Development of a Real-Time SAFT-UT System for the Inservice Inspection of LWRs, Acoustic Emission - Flaw Relationships for Inservice Monitoring of Nuclear Reactor Pressure Boundaries, and Steam Generator Integrity Program/Steam Generator Group Project. This paper will discuss and present an overview of each program and highlight the more significant accomplishments obtained to date. All of these programs have been funded for several years and are scheduled for completion in 1985 or 1986

Intelligent robot / manipulator systems for NDT of primary components in nuclear power plants; Intelligente Roboter / Handhabungssysteme fuer die Pruefung von Primaerkreiskomponenten in Kernkraftwerken

Energy Technology Data Exchange (ETDEWEB)

Dirauf, F.; Gottfried, R.; Bauer, R. [Siemens AG, KWU, Erlangen (Germany)

1999-08-01

The inspection robot developed by Siemens KWU for BWR reactor pressure vessel inspection has a mounting plate with exchangeable parts so as to fit into the various profiles of the vertical guiding tracks at the different pressure vessels. The robot is a versatile device also due to its variable cinematic equipment and thus can be used for any task hitherto performed by the available manipulators. For BWR pressure vessel testing, a novel, compact probe system equipped with five radiation assemblies has been combined with the ultrasonic SAPHIR probe. Until now, NDE of the RPV nozzles in BWRs has been carried out from the outside of the component. The newly developed manipulator of Siemens for inspection of the RPV nozzles can be moved to the nozzles either by manipulating arms or by a floating device, and is fixed to the nozzles by means of pneumatic suckers. Due to the modular design, probe arrays can be exchanged according to nozzle size or structural profiles to be tested. The mobile testing robot SISTAR for PWR pressure vessels consists of a floating cylinder platform that is moved under water to the target position by popellers or by ropes. It is self-adjusting for taking horizontal position and is held in position in the center of the RPV by means of a radial arrangement of legs automatically and synchronously extending from the robot. The platform can be equipped with one or two manipulator arms, depending on the testing task. (orig./CB) [Deutsch] Der von Siemens KWU neuentwickelte Pruefroboter fuer SWR-Reaktordruckbehaelter besitzt einen auswechselbaren Grundwagen, so dass er an die unterschiedlichen Profile der vertikalen Fuehrungsschienen in den einzelnen Kraftwerken angepasst werden kann. Er ist damit auch aufgrund seiner variablen Kinematik universell einsetzbar und kann saemtliche herkoemmliche Manipulatoren ersetzen. In Verbindung mit dem US-Pruefgeraet SAPHIR wurde fuer die SWR-Reaktordruckbehaelter ein neuartiges kompaktes Pruefkopfsystem mit fuenf

GRI testing facility available for pipeline inspection devices

International Nuclear Information System (INIS)

Anon.

1990-01-01

As part of a program to help improve detection and characterization of defects that may occur in pipelines, the Gas Research Institute has announced the completion of the first phase of a testing facility for the evaluation of new and existing pipeline inspection technologies. GRI is a private, not-for-profit membership organization based in Chicago. The first phase of the facility consists of a pull rig which includes four 300-foot lengths of pipe with diameters of 12, 24, 30, and 36 inches. NDE inspection devices can be pulled through these pipe segments by a winch at speeds up to 25 miles per hour

On-rail solution for autonomous inspections in electrical substations

Science.gov (United States)

Silva, Bruno P. A.; Ferreira, Rafael A. M.; Gomes, Selson C.; Calado, Flavio A. R.; Andrade, Roberto M.; Porto, Matheus P.

2018-05-01

This work presents an alternative solution for autonomous inspections in electrical substations. The autonomous system is a robot that moves on rails, collects infrared and visible images of selected targets, also processes the data and predicts the components lifetime. The robot moves on rails to overcome difficulties found in not paved substations commonly encountered in Brazil. We take advantage of using rails to convey the data by them, minimizing the electromagnetic interference, and at the same time transmitting electrical energy to feed the autonomous system. As part of the quality control process, we compared thermographic inspections made by the robot with inspections made by a trained thermographer using a scientific camera Flir® SC660. The results have shown that the robot achieved satisfactory results, identifying components and measuring temperature accurately. The embodied routine considers the weather changes along the day, providing a standard result of the components thermal response, also gives the uncertainty of temperature measurement, contributing to the quality in the decision making process.

A survey on the application of robot techniques to an atomic power plant

International Nuclear Information System (INIS)

Hasegawa, Tsutomu; Sato, Tomomasa; Hirai, Shigeoki; Suehiro, Takashi; Okada, Tokuji

1982-01-01

Tasks of workers in atomic power plants have been surveyed from the viewpoint of necessity and possibility of their robotization. The daily tasks are classified into the following: (1) plant operation; (2) periodical examination; (3) patrol and inspection; (4) in-service inspection; (5) maintenance and repaire; (6) examination and production of the fuel; (7) waste disposal; (8) decommission of the plant. The necessity and present status of the robotization in atomic power plants are investigated according to the following classification: (1) inspection robots; (2) patrol inspection/maintenance robots; (3) hot cell robots; (4) plant decommission robots. The following have been made clear through the survey: (1) Various kinds of tasks are necessary for an atomic power plant: (2) Because of most of the tasks taking place in intense radiation environments, it is necessary to introduce robots into atomic power plants: (3) In application of robots in atomic power plant systems, it is necessary to take account of various severe conditions concerning spatial restrictions, radioactive endurance and reliability. Lastly wide applicability of the techniques of knowledge robots, which operate interactively with men, has been confirmed as a result of the survey. (author)

Miniaturized Time Domain Terahertz Non Destructive Evaluation for In-Orbit Inspection of Inflatable Habitats and Thermal Protection Systems, Phase II

Data.gov (United States)

National Aeronautics and Space Administration — Picometrix's time-domain terahertz (TD-THz) non-destructive evaluation (NDE) technology could be used to inspect space flight structures such as inflatable space...

Miniaturized Time Domain Terahertz Non Destructive Evaluation for In-Orbit Inspection of Inflatable Habitats and Thermal Protection Systems, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — Picometrix's time-domain terahertz (TD-THz) non-destructive evaluation (NDE) technology could be used to inspect space flight structures such as inflatable space...

An underwater robot controls water tanks in nuclear power plants

International Nuclear Information System (INIS)

Lardiere, C.

2015-01-01

The enterprises Newton Research Labs and IHI Southwest Technologies have developed a robot equipped with sensors to inspect the inside walls (partially) and bottom of water tanks without being obliged to empty them. The robot called 'Inspector' is made up of 4 main components: a chassis with 4 independent steering wheels, a camera video system able to provide a 360 degree view, various non-destructive testing devices such as underwater laser scanners, automated ultra-sound or Foucault current probes and an operation system for both driving the robot and controlling the testing. The Inspector robot has been used to inspect the inside bottom of an operating condensate tank at the Palo Verde nuclear station. The robot was able to check all the welds joining the bottom plates and the welds between the walls and the bottom. The robot is also able to come back to the exact place where a defect was detected during a previous inspection. (A.C.)

Special Engineering Services to Establish Inspection Criteria for Bearings to Improve Life Prediction.

Science.gov (United States)

1979-12-01

ll i . -- II 53 I V. REFERENCES 1. Barton, J. R., "Early Fatigue Damage Detection in 4140 Steel Tubes", Proc. Fifth Annual Symposium on NDE of...34Advanced Non- destructive Testing Methods for Bearing Inspection", SAE Paper No. 720172, Automotive Engineering Congress, Detroit, Michigan, January

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)

Cold spray NDE for porosity and other process anomalies

Science.gov (United States)

Glass, S. W.; Larche, M. R.; Prowant, M. S.; Suter, J. D.; Lareau, J. P.; Jiang, X.; Ross, K. A.

2018-04-01

This paper describes a technology review of nondestructive evaluation (NDE) methods that can be applied to cold spray coatings. Cold spray is a process for depositing metal powder at high velocity so that it bonds to the substrate metal without significant heating that would be likely to cause additional residual tensile stresses. Coatings in the range from millimeters to centimeters are possible at relatively high deposition rates. Cold spray coatings that may be used for hydroelectric components that are subject to erosion, corrosion, wear, and cavitation damage are of interest. The topic of cold spray NDE is treated generally, however, but may be considered applicable to virtually any cold spray application except where there are constraints of the hydroelectric component application that bear special consideration. Optical profilometry, eddy current, ultrasound, and hardness tests are shown for one set of good, fair, and poor nickel-chrome (NiCr) on 304 stainless steel (304SS) cold spray samples to demonstrate inspection possibilities. The primary indicator of cold spray quality is the cold spray porosity that is most directly measured with witness-sample destructive examinations (DE)—mostly photo-micrographs. These DE-generated porosity values are correlated with optical profilometry, eddy current, ultrasound, and hardness test NDE methods to infer the porosity and other information of interest. These parameters of interest primarily include: • Porosity primarily caused by improper process conditions (temperature, gas velocity, spray standoff, spray angle, powder size, condition, surface cleanliness, surface oxide, etc.) • Presence/absence of the cold spray coating including possible over-sprayed voids • Coating thicknessOptical profilometry measurements of surface roughness trended with porosity plus, if compared with a reference measurement or reference drawing, would provide information on the coating thickness. Ultrasound could provide similar

Evaluation of modular robot system for maintenance tasks in hot cell

Energy Technology Data Exchange (ETDEWEB)

Pagala, Prithvi Sekhar, E-mail: ps.pagala@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Ferre, Manuel, E-mail: m.ferre@upm.es [Centre for Automation and Robotics UPM-CSIC (Spain); Orona, Luis, E-mail: l.orona@gsi.de [GSI Helmholtzzentrum für Schwerionenforschung (Germany)

2014-10-15

Highlights: •Modular robot deployment inside hot cell for remote manipulation evaluated. •Flexible and adaptable system for variety of tasks presented. •Uses in large workspaces and evolving requirements shown. -- Abstract: This work assesses the use of a modular robot system to perform maintenance and inspection tasks such as, remote flexible inspection, manipulation and cooperation with deployed systems inside the hot cell. A flexible modular solution for the inclusion in maintenance operations is presented. The proposed heterogeneous modular robotic system is evaluated using simulations of the prototype across selected robot configuration to perform tasks. Results obtained show the advantages and ability of the modular robot to perform the necessary tasks as well as its ability to adapt and evolve depending on the need. The simulation test case inside hot cell shows modular robot configuration, a two modular arm to perform tele-operation tasks in the workspace and a wheeled platform for inspection collaborating to perform tasks. The advantage of using re-configurable modular robot over conventional robot platforms is shown.

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)

The development of robot system for pressurizer maintenance in NPPs

International Nuclear Information System (INIS)

Kim, Seung Ho; Kim, Chang Hoi; Jung, Seung Ho; Seo, Yong Chil; Lee, Young Kwang; Go, Byung Yung; Lee, Kwang Won; Lee, Sang Ill; Yun, Jong Yeon; Lee, Hyung Soon; Park, Mig Non; Park, Chang Woo; Cheol, Kwon

1999-12-01

The pressurizer that controls the pressure variation of primary coolant system, consists of a vessel, electric heaters and a spray, is one of the safety related equipment in nuclear power plants. Therefore it is required to inspect and maintain it regularly. Because the inside of pressurizer os contaminated by radioactivity, when inspection and repairing it, the radiation exposure of workers is inevitable. In this research two robot system has been developed for inspection and maintenance of the pressurizer for the water filled case and the water sunken case. The one robot system for the water filled case consists of two links, movable gripper using wire string, and support frame for the attachment of robot. The other robot is equipped propeller in order to navigate on the water. It also equipped high performance water resistance camera to make inspection possible. The developed robots are designed under several constraints such as its weight and collision with pressurizer wall. To verify the collision free robot link length and accessibility to the any desired rod heater it is simulated by 3-dimensional graphic simulation software(RobCard). For evaluation stress of the support frame finite element analysis is performed by using the ANSYS code. (author)

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

Fault-Tolerant NDE Data Reduction Framework, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — A distributed fault tolerant nondestructive evaluation (NDE) data reduction framework is proposed in which large NDE datasets are mapped to thousands to millions of...

Application of phased arrays in basic and in-service inspection

International Nuclear Information System (INIS)

Gebhardt, W.; Schwarz, H.P.; Bonitz, F.; Woll, H.

1985-01-01

In the scope of the reactor safety research program of the Federal Ministry of Research and Technology a flexible microcomputer controlled phased array system was developed. Meanwhile, several industrial prototypes for simple and complicated applications are built up. The applicability of phased array systems in NDE for basic and inservice inspections of reactor pressure vessels is investigated. Methods for defect detection, reconstruction and classification are described

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

IVA Ultrasonic and Eddy Current NDE for ISS

Data.gov (United States)

National Aeronautics and Space Administration — The project intends to develop a combined Ultrasonic and Eddy Current nondestructive evaluation (NDE) instrument for IVA use on ISS. A suite of IVA and EVA NDE...

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)

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.

Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

International Nuclear Information System (INIS)

Saernmark, Ivan; Lenz, Herbert

2008-01-01

Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction

Obstacle negotiation control for a mobile robot suspended on overhead ground wires by optoelectronic sensors

Science.gov (United States)

Zheng, Li; Yi, Ruan

2009-11-01

Power line inspection and maintenance already benefit from developments in mobile robotics. This paper presents mobile robots capable of crossing obstacles on overhead ground wires. A teleoperated robot realizes inspection and maintenance tasks on power transmission line equipment. The inspection robot is driven by 11 motor with two arms, two wheels and two claws. The inspection robot is designed to realize the function of observation, grasp, walk, rolling, turn, rise, and decline. This paper is oriented toward 100% reliable obstacle detection and identification, and sensor fusion to increase the autonomy level. An embedded computer based on PC/104 bus is chosen as the core of control system. Visible light camera and thermal infrared Camera are both installed in a programmable pan-and-tilt camera (PPTC) unit. High-quality visual feedback rapidly becomes crucial for human-in-the-loop control and effective teleoperation. The communication system between the robot and the ground station is based on Mesh wireless networks by 700 MHz bands. An expert system programmed with Visual C++ is developed to implement the automatic control. Optoelectronic laser sensors and laser range scanner were installed in robot for obstacle-navigation control to grasp the overhead ground wires. A novel prototype with careful considerations on mobility was designed to inspect the 500KV power transmission lines. Results of experiments demonstrate that the robot can be applied to execute the navigation and inspection tasks.

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.

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)

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.

CASTOR - Advanced System for VVER Steam Generator Inspection

International Nuclear Information System (INIS)

Mateljak, Petar

2014-01-01

From the safety point of view, steam generator is a very important component of a nuclear power plant. Only a thin tube wall prevents leakage of radioactive material from the primary side into the environment. Therefore, it is very important to perform inspections in order to detect pipe damage and apply appropriate corrective actions during outage. Application of the nondestructive examination (NDE) technique, that can locate degradation and measure its size and orientation, is an integral part of nuclear power plant maintenance. The steam generator inspection system is consisted of remotely controlled manipulator, testing instrument and software for data acquisition and analysis. Recently, the inspection systems have evolved to a much higher level of automation, efficiency and reliability resulting in a lower cost and shorter outage time. Electronic components have become smaller and deal with more complex algorithms. These systems are very fast, precise, reliable and easy to handle. The whole inspection, from the planning, examination, data analysis and final report, is now a highly automated process, which makes inspection much easier and more reliable. This paper presents the new generation of INETEC's VVER steam generator inspection system as ultimate solution for steam generator inspection and repair. (author)

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)

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...

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

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.

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)

Integration of fracture mechanics and NDE

International Nuclear Information System (INIS)

Njo, D.H.; McDonald, N.R.; Nichols, R.W.

1991-01-01

This paper addresses issues concerning the effective assessment of the structural integrity of safety related components, principally the primary system, in operating nuclear power plants. The failure mode of greatest safety concern is fracture and this is usually assessed by fracture mechanics (FM) procedures. These require the choice and application of an appropriate analytical method based on a knowledge of the materials, loading and environmental conditions, and characteristics of such defects as have been identified by non destructive examination (NDE). The paper focuses on capabilities and limitations of the NDE procedures, FM methods and other input information which must be taken into account in practical circumstances as well as some problems encountered. It concludes that an integral approach requiring mutual understanding, dialogue and cooperation among the materials, FM and NDE experts is essential for effective and reliable structural integrity assessments

The EPRI NDE center after five years

International Nuclear Information System (INIS)

Dau, G.J.; Nemzek, T.A.

1985-01-01

In 1979, the Electric Power Research Institute (EPRI) established a Nondestructive Evaluation (NDE) Center. The purpose of the Center is to provide the electric utility industry with a dedicated NDE development and field-use-qualification capability. Later, the scope of activities at the NDE Center was expanded. Beginning in 1980, the BWR Owners Group (IGSCC) provided funding necessary to operate the BWR Pipe Remedy Demonstration and Training Facility. In 1984, the Maintenance Equipment Applications Center was established by EPRI. Both functions are co-located within the NDE Center. All three functions share common objectives of providing the electric utility industry with a capability dedicated to assuring reduction to practice of new or improved technology, proof testing, qualification for field use, and obtaining code and regulatory acceptance of qualified methods and training. The purpose of this paper is to describe typical activities of the Center and some of the benefits that have accrued. The next section describes the Center organization, operation, and facility, while the remaining sections discuss the technology transfer thrust and benefits

SIIA: a knowledge-based assistant for the SAFT ultrasonic inspection system(a)

International Nuclear Information System (INIS)

Melton, R.B.; Doctor, S.R.; Taylor, T.T.; Badalamente, R.V.

1987-01-01

SIIA(b) is a knowledge-based system designed to assist in making the operation of the Synthetic Aperture Focussing Technique (SAFT) Ultrasonic Inspection System more reliable and efficient. This paper reports on their effort to develop a prototype version of SIIA to demonstrate the feasibility of using knowledge-based systems in nondestructive evaluation (NDE). The first section of the paper describes the structure of the problem and their conceptual design of the knowledge-based system. The next section describes the current state of the prototype SIIA system and relates some of their experiences in developing the system. The final section discusses their plans for future development of SIIA and the implications of this type of system for other NDE techniques and applications

Shape-estimation of human hand using polymer flex sensor and study of its application to control robot arm

International Nuclear Information System (INIS)

Lee, Jin Hyuck; Kim, Dae Hyun

2015-01-01

Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

Shape-estimation of human hand using polymer flex sensor and study of its application to control robot arm

Energy Technology Data Exchange (ETDEWEB)

Lee, Jin Hyuck; Kim, Dae Hyun [Seoul National University of Technology, Seoul (Korea, Republic of)

2015-02-15

Ultrasonic inspection robot systems have been widely researched and developed for the real-time monitoring of structures such as power plants. However, an inspection robot that is operated in a simple pattern has limitations in its application to various structures in a plant facility because of the diverse and complicated shapes of the inspection objects. Therefore, accurate control of the robot is required to inspect complicated objects with high-precision results. This paper presents the idea that the shape and movement information of an ultrasonic inspector's hand could be profitably utilized for the accurate control of robot. In this study, a polymer flex sensor was applied to monitor the shape of a human hand. This application was designed to intuitively control an ultrasonic inspection robot. The movement and shape of the hand were estimated by applying multiple sensors. Moreover, it was successfully shown that a test robot could be intuitively controlled based on the shape of a human hand estimated using polymer flex sensors.

Biologically inspired robotic inspectors: the engineering reality and future outlook (Keynote address)

Science.gov (United States)

Bar-Cohen, Yoseph

2005-04-01

Human errors have long been recognized as a major factor in the reliability of nondestructive evaluation results. To minimize such errors, there is an increasing reliance on automatic inspection tools that allow faster and consistent tests. Crawlers and various manipulation devices are commonly used to perform variety of inspection procedures that include C-scan with contour following capability to rapidly inspect complex structures. The emergence of robots has been the result of the need to deal with parts that are too complex to handle by a simple automatic system. Economical factors are continuing to hamper the wide use of robotics for inspection applications however technology advances are increasingly changing this paradigm. Autonomous robots, which may look like human, can potentially address the need to inspect structures with configuration that are not predetermined. The operation of such robots that mimic biology may take place at harsh or hazardous environments that are too dangerous for human presence. Biomimetic technologies such as artificial intelligence, artificial muscles, artificial vision and numerous others are increasingly becoming common engineering tools. Inspired by science fiction, making biomimetic robots is increasingly becoming an engineering reality and in this paper the state-of-the-art will be reviewed and the outlook for the future will be discussed.

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.

Development of an automated remote inspection system for the interior of the primary containment vessel of a nuclear power plant

International Nuclear Information System (INIS)

Senoo, Makoto; Yoshida, Tomiharu; Omote, Tatsuyuki; Tanaka, Keiji; Koga, Kazunori

1996-01-01

An automated remote inspection system has been developed for the interior of the primary containment vessel of a nuclear power plant. This system consists of an inspection robot and an operator's console. The inspection robot travels along a monorail provided in the interior of the primary containment vessel. The operator's console is located in the central control room of the power plant. We have made efforts to downsize the robot and automate the inspection and monitoring machinery. As for downsizing the robot, a 152 mm wide, 290 mm high cross-sectional area and 15 kg weight can be realized using commercially available small sensors and rearranging the parts in those sensors. As for automating the inspection and monitoring, several monitoring functions are developed using image processing, frequency analysis and other techniques applied to signals from sensors such as an ITV camera, an infrared camera and a microphone, which are mounted on the robot. Endurance tests show resistance of the robot to radiational and thermal conditions is adequate for actual use in actual power plants. (author)

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

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)

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

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...

Example value-impact analysis of non-destructive examination methods used for inservice inspection of BWR piping

International Nuclear Information System (INIS)

Tabatabai, A.S.; Simonen, F.A.

1985-12-01

This paper describes work recently completed at Pacific Northwest Laboratory (PNL) to use value-impact (V/I) analysis methods to help guide research to improve the effectiveness of inservice inspection (ISI) procedures at nuclear power plants. The example developed at PNL uses the results of probabilistic fracture mechanics and probabilistic risk analysis (PRA) studies to compare three generic categories of non-destructive examination (NDE) methods. These NDE methods are used to detect possible pipe cracks such as those induced by intergranular stress corrosion (IGSCC). The results of the analysis of this example include (1) quantification of the effectiveness of ISI in increasing plant safety in terms of reduction in core-melt frequency, (2) estimates of the industry cost of performing ISI, (3) estimates of radiation exposures to plant personnel as a result of performing ISI, and (4) potential areas of improvement in the NDE and ISI process

Improvement of in-service inspection in nuclear power plants

International Nuclear Information System (INIS)

2004-07-01

During the nuclear power plant's (NPPs) operating lifetime, the operating organisation should examine the systems, structures and components (SSCs) for possible deterioration so as to determine whether they are acceptable for continued safe operation or whether remedial measures should be taken. In-service inspection (ISI) provides the systematic framework for these examinations. An effective ISI programme ensures both that the safety of the plant is not adversely affected after the commencement of operation and that the levels of reliability and availability of all plant SSCs remain in accordance with the assumptions and intent of the design and, consequently, a cost effective electricity generation is guaranteed. This report was prepared under one of the IAEA projects, 'Integrated NPP life cycle management including decommissioning'. The main objective of an integrated life cycle management programme is to enable NPPs to compete, without compromising safety, successfully in the changing energy markets throughout their service life and to facilitate life extension and eventual decommissioning through improved engineering, technological, economic and managerial actions. The Technical Working Group on NPP Life Management and other advisory groups nominated by the Member States provide recommendations on high priority needs of Member States in this area. The purpose of this TECDOC is to: discuss and evaluate the status of ISI and its evolution in NPPs of IAEA Member States; discuss and evaluate the criteria for effective ISI and the constitutive elements; discuss and evaluate the implication of the introduction of risk informed ISI (RI-ISI) concepts; generate a common recommendation as to how to benefit from utilising the potential of RI-ISI concepts for further development and, possibly, improvement of ISI effectiveness. The specific concept of this report is to treat the two key issues, i.e. inspection qualification and RI-ISI, and their complementarities, to

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...

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.

Overview of improvements in work practices and instrumentation for CANDU primary heat transport feeders in-service inspections

Energy Technology Data Exchange (ETDEWEB)

Marcotte, O., E-mail: olivier@nucleom.ca [Nucleom Inc., Quebec, Quebec (Canada); Rousseau, G., E-mail: rousseau.gilles.a@hydro.qc.ca [Hydro Quebec, Becancour, Quebec (Canada); Rochefort, E., E-mail: erochfort@zetec.com [Zetec Canada, Quebec, Quebec (Canada)

2013-01-15

The Canadian nuclear industry has developed many advanced non-destructive inspection techniques to be applied safely in hazardous environments in recent years. Automated systems, manual tooling and specialized software modules have been designed since early 2000s to provide complete and very efficient fitness for service inspection of primary heat transport system carbon steel feeder pipes. These techniques deal with complex geometries, difficult access and, radioactive environment. Complementary NDE techniques, namely Ultrasounds, eddy current, phased-array UT and automated scanners are used. This presentation describes the improvements in inspection practices and the advanced data analysis features. (author)

The Development of a Radiation Hardened Robot for Nuclear Facilities

Energy Technology Data Exchange (ETDEWEB)

Jung, Seung Ho; Kim, Chang Hoi; Seo, Yong Chil (and others)

2007-04-15

We has been developed two remotely controlled robotic systems. One is a underwater vehicle for inspection of the internal structures of PWRs and retrieving foreign stubs in the reactor pressure vessels and reactor coolant pipes. The other robotic system consists of a articulated-type mobile robot capable of recovering the failure of the fuel exchange machine and a mini modular mobile robot for inspection of feeder pipes with ultrasonic array sensors in PHWRs. The underwater robot has been designed by considering radiation effect, underwater condition, and accessibility to the working area. The size of underwater robot is designed to enter the cold legs. A extendable manipulator is mounted on the mobile robot, which can restore nuclear fuel exchange machine. The mini modular mobile robot is composed of dual inch worm mechanisms, which are constructed by two gripper bodies that can fix the robot body on to the pipe and move along the longitudinal and to rotate in a circumferential direction to access all of the outer surfaces of the pipe.

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.

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...

Underwater welding using remote controlled robots. Development of remote underwater welding technology with a high power YAG laser

International Nuclear Information System (INIS)

Miwa, Yasuhiro; Sato, Syuuichi; Kojima, Toshio; Owaki, Katsura; Hirose, Naoya

2002-01-01

As components in nuclear power plant have been periodically carried out their inspection and repair to keep their integrity, on radioactive liquid wastes storage facility, because of difficulty on their inspection by human beings, some are remained without inspection, and even when capable of inspection, conversion from human works to remote operations is desired from a viewpoint of their operation efficiency upgrading. For response to these needs, some developments on a technology capable of carrying out inspection of their inside at underwater environment and repairing welding with YAG laser by means of remote operation, have been performed. Remote underwater inspection and repair technology is a combination technology of already applied underwater mobile technique (underwater inspection robot) with underwater YAG laser welding technique which is recently at actual using level. Therefore, this technology is composed of an inspection robot and a repair welding robot. And, testing results using the underwater inspection robot and welding test results using the underwater repair welding robot, were enough preferable to obtain forecasting applicable to actual apparatuses. This technology is especially effective for inspection and repair of inside of nuclear fuel cycle apparatuses and relatively high dose apparatuses, and can be thought to be applicable also to large capacity tanks, tanks dealing with harmful matters, underwater structures, and so on, in general industries. (G.K.)

Ultrasonic NDE Simulation for Composite Manufacturing Defects

Science.gov (United States)

Leckey, Cara A. C.; Juarez, Peter D.

2016-01-01

The increased use of composites in aerospace components is expected to continue into the future. The large scale use of composites in aerospace necessitates the development of composite-appropriate nondestructive evaluation (NDE) methods to quantitatively characterize defects in as-manufactured parts and damage incurred during or post manufacturing. Ultrasonic techniques are one of the most common approaches for defect/damage detection in composite materials. One key technical challenge area included in NASA's Advanced Composite's Project is to develop optimized rapid inspection methods for composite materials. Common manufacturing defects in carbon fiber reinforced polymer (CFRP) composites include fiber waviness (in-plane and out-of-plane), porosity, and disbonds; among others. This paper is an overview of ongoing work to develop ultrasonic wavefield based methods for characterizing manufacturing waviness defects. The paper describes the development and implementation of a custom ultrasound simulation tool that is used to model ultrasonic wave interaction with in-plane fiber waviness (also known as marcelling). Wavefield data processing methods are applied to the simulation data to explore possible routes for quantitative defect characterization.

The development of mobile robot for security application and nuclear facilities

Energy Technology Data Exchange (ETDEWEB)

Kim, B. S.; Lee, Y. B.; Choi, Y. S.; Seo, Y. C.; Park, Y. M

1999-12-01

The use of a mobile robot system in nuclear radioactive environments has the advantage of watching and inspecting the NPP safety-related equipment systematically and repairing damaged parts efficiently, thereby enhancing the safe operations of NPPs as well as reducing significantly personnel's dose rate to radioactive environment. Key technology achieved through the development of such robotic system can be used for security application and can offer new approaches to many of the tasks faced to the industry as well. The mobile robot system was composed of a mobile subsystem, a manipulator subsystem, a control subsystem, and a sensor subsystem to use in security application and nuclear radioactive environments. The mobile subsystem was adopted to synchro-drive method to improve the mobility of it. And the manipulator subsystem was developed to minimize the weight and easy to control at remote site. Finally, we developed the USB-based robot control system considering the expandability and modularity. The developed mobile robot for inspection and security was experimented for the collision avoidance and autonomous algorithm, and then it was confirmed that the mobile robot was very effective to the security application and inspection of nuclear facilities. (author)

The development of mobile robot for security application and nuclear facilities

International Nuclear Information System (INIS)

Kim, B. S.; Lee, Y. B.; Choi, Y. S.; Seo, Y. C.; Park, Y. M.

1999-12-01

The use of a mobile robot system in nuclear radioactive environments has the advantage of watching and inspecting the NPP safety-related equipment systematically and repairing damaged parts efficiently, thereby enhancing the safe operations of NPPs as well as reducing significantly personnel's dose rate to radioactive environment. Key technology achieved through the development of such robotic system can be used for security application and can offer new approaches to many of the tasks faced to the industry as well. The mobile robot system was composed of a mobile subsystem, a manipulator subsystem, a control subsystem, and a sensor subsystem to use in security application and nuclear radioactive environments. The mobile subsystem was adopted to synchro-drive method to improve the mobility of it. And the manipulator subsystem was developed to minimize the weight and easy to control at remote site. Finally, we developed the USB-based robot control system considering the expandability and modularity. The developed mobile robot for inspection and security was experimented for the collision avoidance and autonomous algorithm, and then it was confirmed that the mobile robot was very effective to the security application and inspection of nuclear facilities. (author)

Progress in evaluation and improvement in nondestructive examination reliability for inservice inspection of Light Water Reactors (LWRs) and characterize fabrication flaws in reactor pressure vessels

International Nuclear Information System (INIS)

Doctor, S.R.; Bowey, R.E.; Good, M.S.; Friley, J.R.; Kurtz, R.J.; Simonen, F.A.; Taylor, T.T.; Heasler, P.G.; Andersen, E.S.; Diaz, A.A.; Greenwood, M.S.; Hockey, R.L.; Schuster, G.J.; Spanner, J.C.; Vo, T.V.

1991-10-01

This paper is a review of the work conducted under two programs. One (NDE Reliability Program) is a multi-year program addressing the reliability of nondestructive evaluation (NDE) for the inservice inspection (ISI) of light water reactor components. This program examines the reliability of current NDE, the effectiveness of evolving technologies, and provides assessments and recommendations to ensure that the NDE is applied at the right time, in the right place with sufficient effectiveness that defects of importance to structural integrity will be reliably detected and accurately characterized. The second program (Characterizing Fabrication Flaws in Reactor Pressure Vessels) is assembling a data base to quantify the distribution of fabrication flaws that exist in US nuclear reactor pressure vessels with respect to density, size, type, and location. These programs will be discussed as two separate sections in this report. 4 refs., 7 figs

Investigation In Two Wheels Mobile Robot Movement: Stability and Motion Paths

Directory of Open Access Journals (Sweden)

Abdulrahman A.A. Emhemed

2013-01-01

Full Text Available This paper deals with the problem of dynamic modelling of inspection robot two wheels. Fuzzy controller based on robotics techniques for optimize of an inspection stability. The target is to enhancement of robot direction and avoids the obstacles. To find collision free area, distance-sensors such as ultra-sonic sensors and laser scanners or vision systems are usually employed. The distance-sensors offer only distance information between mobile robots and obstacles. Also the target are shown can be reached by different directions. The fuzzy logic controller is effect to avoid the abstacles and get ideal direction to “the target box”.

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,

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

International Nuclear Information System (INIS)

Chen, H J; Gao, B T; Zhang, X H; Deng, Z Q

2006-01-01

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot

Drive Control System for Pipeline Crawl Robot Based on CAN Bus

Energy Technology Data Exchange (ETDEWEB)

Chen, H J [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Gao, B T [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Zhang, X H [Department of Electrical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China); Deng, Z Q [School of Mechanical Engineering, Harbin Institute of Technology Harbin, Heilongjiang, 150001 (China)

2006-10-15

Drive control system plays important roles in pipeline robot. In order to inspect the flaw and corrosion of seabed crude oil pipeline, an original mobile pipeline robot with crawler drive unit, power and monitor unit, central control unit, and ultrasonic wave inspection device is developed. The CAN bus connects these different function units and presents a reliable information channel. Considering the limited space, a compact hardware system is designed based on an ARM processor with two CAN controllers. With made-to-order CAN protocol for the crawl robot, an intelligent drive control system is developed. The implementation of the crawl robot demonstrates that the presented drive control scheme can meet the motion control requirements of the underwater pipeline crawl robot.

Cooperative Behaviours with Swarm Intelligence in Multirobot Systems for Safety Inspections in Underground Terrains

Directory of Open Access Journals (Sweden)

Chika Yinka-Banjo

2014-01-01

Full Text Available Underground mining operations are carried out in hazardous environments. To prevent disasters from occurring, as often as they do in underground mines, and to prevent safety routine checkers from disasters during safety inspection checks, multirobots are suggested to do the job of safety inspection rather than human beings and single robots. Multirobots are preferred because the inspection task will be done in the minimum amount of time. This paper proposes a cooperative behaviour for a multirobot system (MRS to achieve a preentry safety inspection in underground terrains. A hybrid QLACS swarm intelligent model based on Q-Learning (QL and the Ant Colony System (ACS was proposed to achieve this cooperative behaviour in MRS. The intelligent model was developed by harnessing the strengths of both QL and ACS algorithms. The ACS optimizes the routes used for each robot while the QL algorithm enhances the cooperation between the autonomous robots. A description of a communicating variation within the QLACS model for cooperative behavioural purposes is presented. The performance of the algorithms in terms of without communication, with communication, computation time, path costs, and the number of robots used was evaluated by using a simulation approach. Simulation results show achieved cooperative behaviour between robots.

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

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...

NDE Acoustic Microscopy Research Laboratory

Data.gov (United States)

Federal Laboratory Consortium — The purpose is to develop advanced, more effective high-resolution micro-NDE materials characterization methods using scanning acoustic microscopy. The laboratory's...

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

Status of integration of small computers into NDE systems

International Nuclear Information System (INIS)

Dau, G.J.; Behravesh, M.M.

1988-01-01

Introduction of computers in nondestructive evaluations (NDE) has enabled data acquisition devices to provide a more thorough and complete coverage in the scanning process, and has aided human inspectors in their data analysis and decision making efforts. The price and size/weight of small computers, coupled with recent increases in processing and storage capacity, have made small personal computers (PC's) the most viable platform for NDE equipment. Several NDE systems using minicomputers and newer PC-based systems, capable of automatic data acquisition, and knowledge-based analysis of the test data, have been field tested in the nuclear power plant environment and are currently available through commercial sources. While computers have been in common use for several NDE methods during the last few years, their greatest impact, however, has been on ultrasonic testing. This paper discusses the evolution of small computers and their integration into the ultrasonic testing process

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

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. ...

Research on nondestructive examination methods for CANDU fuel channel inspection

International Nuclear Information System (INIS)

Soare, M.; Petriu, F.; Toma, V.; Revenco, V.; Calinescu, A.; Ciocan, R.; Iordache, C.; Popescu, L.; Mihalache, M.; Murgescu, C.

1995-01-01

The requirements of the 1994 edition of CAN/CSA-N285.4 Periodic Inspection Standard, which address all known and postulated degradation mechanisms and introduce material surveillance demands, involve a growing need for improved nondestructive examination (NDE) methods and technologies. In order to have a proper technical support in its decisions concerning fuel channel inspections at Cernavoda NPP, the Romanian Power Authority (RENEL) initiated a Research Program regarding the nondestructive characterization of the fuel channels structural integrity. The paper presents the most significant results obtained on this Research Program: the ENDUS experimental system for Laboratory simulation of the fuel channel inspection, ultrasonic Rayleigh-Lamb waves technique for pressure tubes examination, phase analysis technique for near-surface flaws, influence of the metallurgical state of the pressure tube material on the eddy current defectoscopic signals, characterization of plastic deformation and fracture of zirconium alloys by acoustic emission. (author)

Iowa State University's undergraduate minor, online graduate certificate and resource center in NDE

Science.gov (United States)

Bowler, Nicola; Larson, Brian F.; Gray, Joseph N.

2014-02-01

Nondestructive evaluation is a `niche' subject that is not yet offered as an undergraduate or graduate major in the United States. The undergraduate minor in NDE offered within the College of Engineering at Iowa State University (ISU) provides a unique opportunity for undergraduate aspiring engineers to obtain a qualification in the multi-disciplinary subject of NDE. The minor requires 16 credits of course work within which a core course and laboratory in NDE are compulsory. The industrial sponsors of Iowa State's Center for Nondestructive Evaluation, and others, strongly support the NDE minor and actively recruit students from this pool. Since 2007 the program has graduated 10 students per year and enrollment is rising. In 2011, ISU's College of Engineering established an online graduate certificate in NDE, accessible not only to campus-based students but also to practicing engineers via the web. The certificate teaches the fundamentals of three major NDE techniques; eddy-current, ultrasonic and X-ray methods. This paper describes the structure of these programs and plans for development of an online, coursework-only, Master of Engineering in NDE and thesis-based Master of Science degrees in NDE.

A Practical Solution Using A New Approach To Robot Vision

Science.gov (United States)

Hudson, David L.

1984-01-01

Up to now, robot vision systems have been designed to serve both application development and operational needs in inspection, assembly and material handling. This universal approach to robot vision is too costly for many practical applications. A new industrial vision system separates the function of application program development from on-line operation. A Vision Development System (VDS) is equipped with facilities designed to simplify and accelerate the application program development process. A complimentary but lower cost Target Application System (TASK) runs the application program developed with the VDS. This concept is presented in the context of an actual robot vision application that improves inspection and assembly for a manufacturer of electronic terminal keyboards. Applications developed with a VDS experience lower development cost when compared with conventional vision systems. Since the TASK processor is not burdened with development tools, it can be installed at a lower cost than comparable "universal" vision systems that are intended to be used for both development and on-line operation. The VDS/TASK approach opens more industrial applications to robot vision that previously were not practical because of the high cost of vision systems. Although robot vision is a new technology, it has been applied successfully to a variety of industrial needs in inspection, manufacturing, and material handling. New developments in robot vision technology are creating practical, cost effective solutions for a variety of industrial needs. A year or two ago, researchers and robot manufacturers interested in implementing a robot vision application could take one of two approaches. The first approach was to purchase all the necessary vision components from various sources. That meant buying an image processor from one company, a camera from another and lens and light sources from yet others. The user then had to assemble the pieces, and in most instances he had to write

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)

Development of non-destructive diagnosis technology for pipe internal in thermal power plants based on robotics

Energy Technology Data Exchange (ETDEWEB)

Kim, Seungho; Kim, Changhoi; Seo, Yongchil; Lee, Sunguk; Jung, Seungho; Jung, Seyoung

2011-11-15

The Pipelines of power plants may have tiny crack by corrosion. Pipe safety inspection should be performed periodically and non-periodically to ensure their safety and integrity. It is difficult to inspection pipes inside defect since pipes of power plant is covered thermal insulation material. Normally pipes inspection was performed part of pipes on outside. A mobile robot was developed for the inspection of pipe of 100 mm inside diameter. The robot is adopted screw type drive mechanism in order to move vertical, horizontal pipes inside. The multi-laser and camera module, which is mounted in front of the robot, captures a sequence of 360 degree shapes of the inner surface of a pipe. The 3D inner shape of pipe is reconstructed from a multi laser triangulation techniques for the inspection of pipes.

NDE and SHM Simulation for CFRP Composites

Science.gov (United States)

Leckey, Cara A. C.; Parker, F. Raymond

2014-01-01

Ultrasound-based nondestructive evaluation (NDE) is a common technique for damage detection in composite materials. There is a need for advanced NDE that goes beyond damage detection to damage quantification and characterization in order to enable data driven prognostics. The damage types that exist in carbon fiber-reinforced polymer (CFRP) composites include microcracking and delaminations, and can be initiated and grown via impact forces (due to ground vehicles, tool drops, bird strikes, etc), fatigue, and extreme environmental changes. X-ray microfocus computed tomography data, among other methods, have shown that these damage types often result in voids/discontinuities of a complex volumetric shape. The specific damage geometry and location within ply layers affect damage growth. Realistic threedimensional NDE and structural health monitoring (SHM) simulations can aid in the development and optimization of damage quantification and characterization techniques. This paper is an overview of ongoing work towards realistic NDE and SHM simulation tools for composites, and also discusses NASA's need for such simulation tools in aeronautics and spaceflight. The paper describes the development and implementation of a custom ultrasound simulation tool that is used to model ultrasonic wave interaction with realistic 3-dimensional damage in CFRP composites. The custom code uses elastodynamic finite integration technique and is parallelized to run efficiently on computing cluster or multicore machines.

Position-controlled data acquisition embedded system for magnetic NDE of bridge stay cables.

Science.gov (United States)

Maldonado-Lopez, Rocio; Christen, Rouven

2011-01-01

This work presents a custom-tailored sensing and data acquisition embedded system, designed to be integrated in a new magnetic NDE inspection device under development at Empa, a device intended for routine testing of large diameter bridge stay cables. The data acquisition (DAQ) system fulfills the speed and resolution requirements of the application and is able to continuously capture and store up to 2 GB of data at a sampling rate of 27 kS/s, with 12-bit resolution. This paper describes the DAQ system in detail, including both hardware and software implementation, as well as the key design challenges and the techniques employed to meet the specifications. Experimental results showing the performance of the system are also presented.

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

Application of advanced surface and volumetric NDE methods to the detection of cracks in critical regions of turbine blades

International Nuclear Information System (INIS)

Porter, J.P.

1990-01-01

Advanced NDE inspection techniques capable of detecting small, yet potentially dangerous cracks in turbine blade tenons, blade tie-wire through-holes, trailing edges, and blade root attachment ends have been devised and developed and are now being applied successfully in the field replacing conventional, less-sensitive methods commonly used for crack detection in these blade elements. Under-shroud lateral cracks in tenons are detected ultrasonically by highangle refracted pulse-echo shear wave and 0-degree pitch-catch longitudinal wave methods. Trailing-edge blade cracks and surface-connected cracks in root attachment ends are detected by high frequency eddy current techniques, typically applied remotely using ports in the turbine housing to gain access to the parts under inspection. Cracks emanating from tie-wire holes in blade upper ends are detected by eddy current inspection, which has been found to be a far more effective methods than either magnetic particle or ultrasonic testing for this application. Root attachment ends of side entry blades are inspected volumetrically by ultrasonics, using proprietary coupling techniques that allow examination of heretofore uninspectable regions of blade attachment hooks, known regions of crack initiation. Techniques developed for this collection of applications are described, and the results of actual field inspections are presented and discussed

Dry Cask Storage Inspection and Monitoring. Interim Report.

Energy Technology Data Exchange (ETDEWEB)

Bakhtiari, Susan [Argonne National Lab. (ANL), Argonne, IL (United States); Elmer, Thomas W. [Argonne National Lab. (ANL), Argonne, IL (United States); Koehl, Eugene R. [Argonne National Lab. (ANL), Argonne, IL (United States); Wang, Ke [Argonne National Lab. (ANL), Argonne, IL (United States); Raptis, Apostolos C. [Argonne National Lab. (ANL), Argonne, IL (United States); Kunerth, Dennis C. [Idaho National Lab. (INL), Idaho Falls, ID (United States); Birk, Sandra M. [Idaho National Lab. (INL), Idaho Falls, ID (United States)

2014-03-04

Recently, the U.S. Nuclear Regulatory Commission (NRC) issued the guidance on the aging management of dry storage facilities that indicates the necessity to monitor the conditions of dry cask storage systems (DCSSs) over extended periods of time.1 Part of the justification of the aging management plans is the requirement for inspection and monitoring to verify whether continued monitoring, inspection or mitigation are necessary. To meet this challenge Argonne National Laboratory (ANL) in collaboration with Idaho National Laboratory (INL) is conducting scoping studies on current and emerging nondestructive evaluation/examination (NDE) and online monitoring (OLM) technologies for DCSS integrity assessments. The scope of work plan includes identification and verification of technologies for long-term online monitoring of DCSSs’ crucial physical parameters such as temperature, pressure, leakage and structural integrity in general. Modifications have been made to the current technologies to accommodate field inspections and monitoring. A summary of the scoping studies and experimental efforts conducted to date as well as plans for future activities is provided below.

Performance demonstration testing at the EPRI NDE center for intergranular stress corrosion cracking in BWR piping

International Nuclear Information System (INIS)

Pherigo, G.

1986-01-01

Intergranular stress corrosion cracking (IGSCC) has become a significant concern for the commercial electric utility industry during the past four years. As the IGSCC problem manifested itself, the Nuclear Regulatory Commission (NRC) responded by issuing Inspection and Enforcement (I and E) Bulletin 82-03 which required that ultrasonic inspection procedures be demonstrated on service- removed samples. The ability to reliably detect and discriminate IGSCC was recognized by the industry as a very difficult task, at best. Concurrent with the NRC bulletin, state-of-the-art yet practical techniques for the detection and discrimination of IGSCC had to be developed, demonstrated, and transferred to the field in a relatively short time. With the release of I and E Bulletin 83-02, procedures as well as personnel had to be qualified on service-removed samples. This paper reports how the EPRI Nondestructive Evaluation (NDE) Center developed the necessary technology and a formal training and qualification program to meet these needs on behalf of the industry

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

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.

Reliably detectable flaw size for NDE methods that use calibration

Science.gov (United States)

Koshti, Ajay M.

2017-04-01

Probability of detection (POD) analysis is used in assessing reliably detectable flaw size in nondestructive evaluation (NDE). MIL-HDBK-1823 and associated mh18232 POD software gives most common methods of POD analysis. In this paper, POD analysis is applied to an NDE method, such as eddy current testing, where calibration is used. NDE calibration standards have known size artificial flaws such as electro-discharge machined (EDM) notches and flat bottom hole (FBH) reflectors which are used to set instrument sensitivity for detection of real flaws. Real flaws such as cracks and crack-like flaws are desired to be detected using these NDE methods. A reliably detectable crack size is required for safe life analysis of fracture critical parts. Therefore, it is important to correlate signal responses from real flaws with signal responses form artificial flaws used in calibration process to determine reliably detectable flaw size.

Lightweight submersed 'Walking' NDE manipulators for PWR and BWR vessel weld inspection

Energy Technology Data Exchange (ETDEWEB)

Saernmark, Ivan; Lenz, Herbert [WesDyne TRC AB, Stockholm (Sweden)

2008-04-15

Three new manipulators developed by WesDyne TRC in Sweden have under the year 2007 performed three very successful inspections in the PWR reactor Ringhals 3 and the BWR reactors Ringhals 1 and Oskarshamn 1. The manipulator systems can be used to perform inspection of circumferential and vertical welds on the reactor pressure vessel, the core shroud, core shroud support in BWR reactors or vessel and core barrel welds in PWR reactors. Most other flat or curved surfaces can be inspected using the new concept through relatively simple mechanical reconfigurations of system modules. The first inspection was performed on the R3 PWR core barrel in June 2007 with a very good result. This Manipulator is designed for access in very narrow gaps and for the type of core barrels with a shield covering the whole area of the perimeter. The manipulator is attached to the inspection area by means of a new unique suction cup system. The current manipulators consist of a curved horizontal beam, with radius similar to the reactor vessel, and a straight vertical beam, forming a T-shaped structure. By alternating the application of suction cup pairs on the horizontal beam and the vertical beam and by driving the scanning motors, the manipulator performs an incremental translational movement upwards/downwards or from side to side. The principles of this system give a well defined and stable platform for global and local positioning accuracy. A combination of advanced sensor solutions provides accurate position information in the absence of other physical reference objects. The system is controlled by the new WesDyne TRC Motor Control Panel and software, the MCP is specifically designed for remote control of submersed manipulators using techniques for cable reduction.

Evaluation and field validation of Eddy-Current array probes for steam generator tube inspection

International Nuclear Information System (INIS)

Dodd, C.V.; Pate, J.R.

1996-07-01

The objective of the Improved Eddy-Current ISI for Steam Generator Tubing program is to upgrade and validate eddy-current inspections, including probes, instrumentation, and data processing techniques for inservice inspection of new, used, and repaired steam generator tubes; to improve defect detection, classification, and characterization as affected by diameter and thickness variations, denting, probe wobble, tube sheet, tube supports, copper and sludge deposits, even when defect types and other variables occur in combination; to transfer this advanced technology to NRC's mobile NDE laboratory and staff. This report describes the design of specialized high-speed 16-coil eddy-current array probes. Both pancake and reflection coils are considered. Test results from inspections using the probes in working steam generators are given. Computer programs developed for probe calculations are also supplied

Trends in NDE science and technology: proceedings of the fourteenth world conference on NDT. V. 1

International Nuclear Information System (INIS)

Krishnadas Nair, C.G.; Baldev Raj; Murthy, C.R.L.; Jayakumar, T.

1996-01-01

The multi volume proceedings of the 14th World Conference on Nondestructive Testing (NDT) cover the applications of Nondestructive Evaluation (NDE) in a wide range of industries, viz. aerospace, chemical, defence, manufacturing, nuclear etc. and for different materials. The major topics covered under it are NDE in nuclear industry, NDE of tubes and bars, non destructive evaluation of composites, NDE of concrete, non destructive evaluation of stresses, NDE of defects, condition monitoring, vibration monitoring, life prediction and NDE for medical applications. Papers relevant to INIS from this volume are indexed separately

Trends in NDE science and technology: proceedings of the fourteenth world conference on NDT. V. 3

International Nuclear Information System (INIS)

Krishnadas Nair, C.G.; Baldev Raj; Murthy, C.R.L.; Jayakumar, T.

1996-01-01

The multi volume proceedings of the 14th World Conference on Nondestructive Testing (NDT) cover the applications of Non destructive Evaluation (NDE) in a wide range of industries, viz. aerospace, chemical, defence, manufacturing, nuclear etc. and for different materials. The major topics covered under it are NDE in nuclear industry, NDE of tubes and bars, non destructive evaluation of composites, NDE of concrete, non destructive evaluation of stresses, NDE of defects, condition monitoring, vibration monitoring, life prediction and NDE for medical applications. Papers relevant to INIS from this volume are indexed separately

Trends in NDE science and technology: proceedings of the fourteenth world conference on NDT. V. 2

International Nuclear Information System (INIS)

Krishnadas Nair, C.G.; Baldev Raj; Murthy, C.R.L.; Jayakumar, T.

1996-01-01

The multi volume proceedings of the 14th World Conference on Nondestructive Testing (NDT) cover the applications of Nondestructive Evaluation (NDE) in a wide range of industries, viz. aerospace, chemical, defence, manufacturing, nuclear etc. and for different materials. The major topics covered under it are NDE in nuclear industry, NDE of tubes and bars, non destructive evaluation of composites, NDE of concrete, non destructive evaluation of stresses, NDE of defects, condition monitoring, vibration monitoring, life prediction and NDE for medical applications. Papers relevant to INIS from this volume are indexed separately

Trends in NDE science and technology: proceedings of the fourteenth world conference on NDT. V. 4

International Nuclear Information System (INIS)

Krishnadas Nair, C.G.; Baldev Raj; Murthy, C.R.L.; Jayakumar, T.

1996-01-01

The multi volume proceedings of the 14th World Conference on Nondestructive Testing (NDT) cover the applications of Nondestructive Evaluation (NDE) in a wide range of industries, viz. aerospace, chemical, defence, manufacturing, nuclear etc. and for different materials. The major topics covered under it are NDE in nuclear industry, NDE of tubes and bars, non destructive evaluation of composites, NDE of concrete, non destructive evaluation of stresses, NDE of defects, condition monitoring, vibration monitoring, life prediction and NDE for medical applications. Papers relevant to INIS from this volume are indexed separately

Trends in NDE science and technology: proceedings of the fourteenth world conference on NDT V. 5

International Nuclear Information System (INIS)

Krishnadas Nair, C.J.; Baldev Raj; Murthy, C.R.L.; Jayakumar, T.

1996-01-01

The multi volume proceedings of the 14th World Conference on Nondestructive Testing (NDT) cover the applications of Nondestructive Evaluation (NDE) in a wide range of industries, viz. aerospace, chemical, defence, manufacturing, nuclear etc. and for different materials. The major topics covered under it are NDE in nuclear industry, NDE of tubes and bars, non destructive evaluation of composites, NDE of concrete, non destructive evaluation of stresses, NDE of defects, condition monitoring, vibration monitoring, life prediction and NDE for medical applications. Papers relevant to INIS from this volume are indexed separately

The development of advanced robotics for the nuclear industry -The development of advanced robotic technology-

Energy Technology Data Exchange (ETDEWEB)

Lee, Jong Min; Lee, Yong Bum; Park, Soon Yong; Cho, Jae Wan; Lee, Nam Hoh; Kim, Woong Kee; Moon, Byung Soo; Kim, Seung Hoh; Kim, Chang Heui; Kim, Byung Soo; Hwang, Suk Yong; Lee, Yung Kwang; Moon, Je Sun [Korea Atomic Energy Research Institute, Taejon (Korea, Republic of)

1995-07-01

Main activity in this year is to develop both remote handling system and telepresence techniques, which can be used for people involved in extremely hazardous working area to alleviate their burden. In the robot vision technology part, KAERI-PSM system, stereo imaging camera module, stereo BOOM/MOLLY unit, and stereo HMD unit are developed. Also, autostereo TV system which falls under the category of next generation stereo imaging technology has been studied. The performance of KAERI-PSM system for remote handling task is evaluated and compared with other stereo imaging systems as well as general TV imaging system. The result shows that KAERI-PSM system is superior to the other stereo imaging systems about remote operation speedup and accuracy. The automatic recognition algorithm of instrument panel is studied and passive visual target tracking system is developed. The 5 DOF camera serving unit has been designed and fabricated. It is designed to function like human`s eye. In the sensing and intelligent control research part, thermal image database system for thermal image analysis is developed and remote temperature monitoring technique using fiber optics is investigated. And also, two dimensional radioactivity sensor head for radiation profile monitoring system is designed. In the part of intelligent robotics, mobile robot is fabricated and its autonomous navigation using fuzzy control logic is studied. These remote handling and telepresence techniques developed in this project can be applied to nozzle-dam installation/removal robot system, reactor inspection unit, underwater nuclear pellet inspection and pipe abnormality inspection. And these developed remote handling and telepresence techniques will be applied in general industry, medical science, and military as well as nuclear facilities. 203 figs, 12 tabs, 72 refs. (Author).

Eddy current inspection of steam generator tubing plugs

International Nuclear Information System (INIS)

Cullen, W.K.

1990-01-01

In response to the issues raised regarding the integrity of nuclear steam generator tubing plugs manufactured from certain heats of Inconel 600, Westinghouse engineers have developed, qualified and implemented an eddy current inspection system for the in-place assessment of these plugs. The heart of the system is a robotic and effector which delivers an eddy current sensor through the reduced diameter of the plug expander and actuates the coil to physical contact with the expanded inside bore of the plug. Once deployed, the eddy current sensor is rotated along a helical path to produce a detailed scan of the plug surface above the final position of the expander. This testing produces an isometric display of degradation due to primary water stress corrosion cracking, on the inside surface of the plug. To date, successful inspections have been conducted at two nuclear units with two different robotic delivery systems. While designed specifically for mechanical plugs with a bottle bore cavity, the inspection system can also be used for expanded straight bore plugs. Details of the inspection system along with a discussion of qualification activities and actual field results are presented in this paper

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...

Ultrasonic inspection reliability for intergranular stress corrosion cracks

Energy Technology Data Exchange (ETDEWEB)

Heasler, P G; Taylor, T T; Spanner, J C; Doctor, S R; Deffenbaugh, J D [Pacific Northwest Lab., Richland, WA (USA)

1990-07-01

A pipe inspection round robin entitled Mini-Round Robin'' was conducted at Pacific Northwest Laboratory from May 1985 through October 1985. The research was sponsored by the US Nuclear Regulatory Commission, Office of Nuclear Regulatory Research under a program entitled Evaluation and Improvement of NDE Reliability for Inservice Inspection of Light Water Reactors.'' The Mini-Round Robin (MRR) measured the intergranular stress corrosion (GSC) crack detection and sizing capabilities of inservice inspection (ISI) inspectors that had passed the requirements of IEB 83-02 and the Electric Power Research Institute (EPRI) sizing training course. The MRR data base was compared with an earlier Pipe Inspection Round Robin (PIRR) that had measured the performance of inservice inspection prior to 1982. Comparison of the MRR and PIRR data bases indicates no significant change in the inspection capability for detecting IGSCC. Also, when comparing detection of long and short cracks, no difference in detection capability was measured. An improvement in the ability to differentiate between shallow and deeper IGSCC was found when the MRR sizing capability was compared with an earlier sizing round robin conducted by the EPRI. In addition to the pipe inspection round robin, a human factors study was conducted in conjunction with the Mini-Round Robin. The most important result of the human factors study is that the Relative Operating Characteristics (ROC) curves provide a better methodology for describing inspector performance than only probability of detection (POD) or single-point crack/no crack data. 6 refs., 55 figs., 18 tabs.

Major upgrade of the articulated inspection arm control system to fulfill daily operation requirements

Energy Technology Data Exchange (ETDEWEB)

Pastor, P., E-mail: patrick.pastor@cea.fr [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Villedieu, E.; Allegretti, L.; Vincent, B.; Barbuti, A.; Bruno, V.; Coquillat, P.; Dechelle, C.; Gargiulo, L.; Le, R.; Malard, P.; Martinez, A.; Nouailletas, R. [CEA, IRFM, Institut de Recherche sur la Fusion par confinement Magnétique (France); Yuntao, Song; Yong, Cheng; Chen, Liu; Hansheng, Feng; Shanshuang, Shi [ASIPP, Institute of Plasma Physics, Chinese Academy of Sciences, Hefei, Anhui (China)

2015-10-15

Highlights: • We propose an overview of the work which has been done to upgrade the control system of the AIA robot (articulated inspection arm) to fulfill daily operation requirements for tokamak inspection. • The control system is based on the use of new position sensors, new electronics design and new supervisor software. • Final tests are ongoing in the EAST scale 1 tokamak mock-up. Routine operation of the robot at EAST will start in the beginning of 2015. - Abstract: An articulated inspection arm (AIA) has been developed by CEA for visual inspection between pulses inside the Tore Supra tokamak vacuum vessel without breaking temperature and vacuum conditions. The eight meters length robot is composed of a shuttle and six articulated segments with a video camera at its end. A demonstration prototype has been achieved in 2008 at Tore Supra (Gargiulo, 2007; Houry, 2008; Perrot, 2003). A project to upgrade the AIA into a fully operational robot has been undertaken by IRFM and ASIPP in an Associated Laboratory. It will be in operation first in the EAST machine and afterwards in Tore Supra in its WEST (W/Tungsten Environment in Steady-state Tokamak) configuration where it is of paramount importance to survey possible degradation of W component surface. The control system of the robot has been extensively upgraded. The effort has been focused on three areas: (1) improvement of the arm position accuracy, (2) increase of the operational robustness, (3) use of a powerful graphical user interface including simulation of trajectories and robot deployment capabilities in a 3D viewer environment. The aim of this paper is to detail the architecture of the AIA control system.

MRP-227 Reactor vessel internals inspection planning and initial results at the Oconee nuclear station unit 2

International Nuclear Information System (INIS)

Davidsaver, S.B.; Fyfitch, S.; Whitaker, D.E.; Doss, R.L.

2015-01-01

The U.S. PWR industry has pro-actively developed generic inspection requirements and standards for reactor vessel (RV) internals. The Electric Power Research Institute (EPRI) Pressurized Water Reactor (PWR) Materials Reliability Program (MRP) has issued MRP-227-A and MRP-228 with mandatory and needed requirements based on the Nuclear Energy Institute (NEI) document NEI 03-08. The inspection and evaluation guidelines contained in MRP-227-A consider eight age-related degradation mechanisms: stress corrosion cracking (SCC), irradiation-assisted stress corrosion cracking (IASCC), wear, fatigue, thermal aging embrittlement, irradiation embrittlement, void swelling and irradiation growth, and thermal and irradiation-enhanced stress relaxation or irradiation-enhanced creep. This paper will discuss the decision planning efforts required for implementing the MRP-227-A and MRP-228 requirements and the results of these initial inspections at the Oconee Nuclear power station (ONS) units. Duke Energy and AREVA overcame a significant technology and NDE challenge by successfully completing the first-of-a-kind MRP-227-A scope requirements at ONS-1 in one outage below the estimated dose and with zero safety issues or events. This performance was repeated at ONS-2 a year later. The remote NDE tooling and processes developed to examine the MRP-227-A scope for ONS-1 and ONS-2 are transferable to other PWRs

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

Applications of field portable computers to NDE of nuclear power plant steam turbine/generator rotors, discs, and retaining rings

International Nuclear Information System (INIS)

Reinhart, E.R.; Leon-Salamanca, T.

2004-01-01

The new generation of compact, powerful portable computers have been incorporated into a number of nondestructive evaluation (NDE) systems used to inspect critical areas of the steam turbine and generator units of nuclear power plants. Due to the complex geometry of turbine rotors, generator rotors, retaining rings, and shrunk-on turbine discs, the computers are needed to rapidly calculate the optimum position of an ultrasonic transducer or eddy current probe in order to detect defects at several critical areas. Examples where computers have been used to overcome problems in nondestructive evaluation include; analysis of large numbers of closely spaced near-bore ultrasonic reflectors to determine their potential for link-up in turbine and generator rotor bores, distinguishing ultrasonic crack signals from other reflectors such as the shrink-fit form reflector detected during ultrasonic scanning of shrunk-on generator retaining rings, and detection and recording of eddy current and ultrasonic signals from defects that could be missed by data acquisition systems with inadequate response. The computers are also used to control scanners to insure total inspection coverage. To facilitate the use of data from detected discontinuities in conjunction with stress and fracture mechanics analysis programs, the computers provide presentations of flaws in color and in three dimensions. The field computers have been instrumental in allowing the inspectors to develop on-site reports that enable the owner/operator to rapidly make run/repair/replace decisions. Examples of recent experiences using field portable computers in NDE systems will be presented along with anticipated future developments. (author)

Robotics in hostile environment I. S. I. S. robot - automatic positioning and docking with proximity and force feed back sensors

Energy Technology Data Exchange (ETDEWEB)

Gery, D

1987-01-01

Recent improvements in control command systems and the development of tactile proximity and force feed back sensors make it possible to robotize complex inspection and maintenance operations in hostile environment, which could have not been possible by classical remotely operated manipulators. We describe the I.S.I.S. robot characteristics, the control command system software principles and the tactile and force-torque sensors which have been developed for the different sequences of an hostile environment inspection and repair: access trajectories generation with obstacles shunning, final positioning and docking using parametric algorithms taking into account measurement of the end of arm proximity and force-torque sensors.

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.)

A development methodology for a remote inspection system with JAVA and socket

International Nuclear Information System (INIS)

Choi, Yoo Rark; Lee, Jae Cheol; Kim, Jae Hee

2004-01-01

We have developed RISYS (Reactor Inspection System) which inspects reactor vessel welds by an underwater mobile robot. The system consists of a main control computer and an inspection robot which is controlled by the main control computer. Since the environments of the inspection tasks in a nuclear plant, like in other industrial fields, is very poor, serious accidents often happen. Therefore the necessity for remote inspection and control system has increased more and more. We have carried out the research for a remote inspection model for RISYS, and have adopted the world wide web, java, and socket technologies for it. Client interface to access the main control computer that controls the inspection equipment is essential for the development of a remote inspection system. It has been developed with a traditional programming language, for example, Visual C++, Visual Basic and X-Window. However, it is too expensive to vend and maintain the version of a interface program because of the different computer O/S. Nevertheless web and java technologies come to the fore to solve the problems but the java interpreting typed language could incur a performance problem in operating the remote inspection system. We suggest a methodology for developing a remote inspection system with java, a traditional programming language, and a socket programming that solves the java performance problem in this paper

PWR reactor vessel in-service-inspection according to RSEM

International Nuclear Information System (INIS)

Algarotti, Marc; Dubois, Philippe; Hernandez, Luc; Landez, Jean Paul

2006-01-01

Nuclear services experience Framatome ANP (an AREVA and Siemens company) has designed and constructed 86 Pressurized Water Reactors (PWR) around the world including the three units lately commissioned at Ling Ao in the People's Republic of China and ANGRA 2 in Brazil; the company provided general and specialized outage services supporting numerous outages. Along with the American and German subsidiaries, Framatome ANP Inc. and Framatome ANP GmbH, Framatome ANP is among the world leading nuclear services providers, having experience of over 500 PWR outages on 4 continents, with current involvement in more than 50 PWR outages per year. Framatome ANP's experience in the examinations of reactor components began in the 1970's. Since then, each unit (American, French and German companies) developed automated NDT inspection systems and carried out pre-service and ISI (In-Service Inspections) using a large range of NDT techniques to comply with each utility expectations. These techniques have been validated by the utilities and the safety authorities of the countries where they were implemented. Notably Framatome ANP is fully qualified to provide full scope ISI services to satisfy ASME Section XI requirements, through automated NDE tasks including nozzle inspections, reactor vessel head inspections, steam generator inspections, pressurizer inspections and RPV (Reactor Pressure Vessel) inspections. Intercontrole (Framatome ANP subsidiary dedicated in supporting ISI) is one of the leading NDT companies in the world. Its main activity is devoted to the inspection of the reactor primary circuit in French and foreign PWR Nuclear Power Plants: the reactor vessel, the steam generators, the pressurizer, the reactor internals and reactor coolant system piping. NDT methods mastered by Intercontrole range from ultrasonic testing to eddy current and gamma ray examinations, as well as dye penetrant testing, acoustic monitoring and leak testing. To comply with the high requirements of

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...

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.

Application of risk-informed methods to in-service piping inspection in Framatome type nuclear power plants

International Nuclear Information System (INIS)

Kim, Jin Hoi; Lee, Jeong Seok; Yun, Eun Sub

2014-01-01

The Pressurized water reactor owners group (PWROG) developed and applied a risk-informed in-service inspection (RI-ISI) program, as an alternative to the existing ASME Section XI sampling inspection method. The RI-ISI programs enhance overall safety by focusing inspections of piping at high safety significance (HSS) locations where failure mechanisms are likely to be present. Additionally, the RI-ISI program can reduce nondestructive evaluation (NDE) exams, man-rem exposure for inspectors, and inspection time, among other benefits. The RI-ISI method of in-service piping inspection was applied to 3 units (KSNPs: Korea standard nuclear power plants) and is being deployed to the other units. In this paper, the results of RI-ISI for a Framatome type (France CPI) nuclear power plant are presented. It was concluded that application of RI-ISI to the plant could enhance and maintain plant safety, as well as provide the benefits of greater reliability.

Analysis of inservice inspection relief requests

International Nuclear Information System (INIS)

Aldrich, D.A.; Cook, J.F.

1989-08-01

Nuclear Regulatory Commission (NRC) regulations require inspection (ISI) of boiling or pressurized water-cooled nuclear power plants be performed in accordance with a referenced edition and addenda of Section XI, ''Rules for Inservice Inspection of Nuclear Power Plant components,'' of the American Society of Mechanical Engineers (ASME) Boiler and Pressure Vessel Code. The regulations permit licensees to request relief from the NRC from specific ASME Code requirements that are determined to be impractical for the specific licensee. The NRC evaluates these requests and may grant such relief, but the NRC may also impose alternative or augmented inspections to assure structural reliability. The purpose,of this task was to evaluate the basis for ISI nondestructive examination (NDE) relief requests and to evaluate the effect of proposed ASME Code changes that would reduce the need for such requests or provide for more complete information in relief requests. This report contains the results of an analysis of an ISI relief request data base that has been expanded to include 1195 ISI relief requests versus the 296 relief requests covered in the first report in April 1987, EGG-SD-7430. Also relief requests were added to the data base which came from both first and second 10-year inspection intervals for several facilities. This provided the means to analyze the effect of recently approved ASME Code cases and updated Code requirements, some of which have been published as a result of earlier work on this task

Use of advanced inspection technology during the ISI of a US-RPV

Energy Technology Data Exchange (ETDEWEB)

Buxbaum, S R; Pond, R B [Baltimore Gas and Electric Co., MD (United States); Stone, R M

1988-12-31

The Reactor Pressure Vessel (RPV) maintains a unique place among nuclear steam supply system components because its failure is unacceptable. The assumption of incredibility of vessel failure is a US Nuclear Regulatory Commission (USNRC) requirement of plant design and operation. Therefore, accurate detection and characterization of vessel flaws are essential. In order to meet the needs for improved pressure vessel inspection, EPRI assisted in the development of the Ultrasonic Data Recording and Processing System (UDRPS). The EPRI NDE Center has supported the transfer to industry through demonstration and documentation of the original system capability and by assisting utilities in their initial applications. Baltimore Gas and Electric (BG and E) purchased a second generation UDRPS and has used the system during the 10 year ISI at the Calvert Cliffs Nuclear Plant, Units 1 and 2. This presentation deals with the BG and E applications and the EPRI NDE Center support provided before and during the Calvert Cliffs ISI applications. (author).