A Conceptual Design of Light-weighted Mobile Robot for the Integrity of SG Tubes in NPP

International Nuclear Information System (INIS)

Seo, Yong Chil; Jeong, Kyung Min; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Seung Ho; Shin, Chun Sup; Park, Ki Tae

2010-01-01

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. It is because that 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 regulatory. 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 of SG chambers limits free access of human worker, remote manipulators are required. In South Korea, Manipulators such as the Zetec SM series and the Westinghouse ROSA series have been used. Such manipulators are rigidly mounted to manways or tube sheets of SG. Confusions for 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 it leads to the 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 Zetec. 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 accidently, they can be fall down and light repair works can be performed. This paper provides the design results for a light weighted mobile robot which is recently being developed in cooperation of our institutes

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.)

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)

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

Ultrasonic inspection of inpile tubes

International Nuclear Information System (INIS)

Boyd, D.M.; Bossi, H.

1985-01-01

The in-service inspection (ISI) of inpile tubes can be performed accurately and safely with a semiautomatic ultrasonic inspection system. The ultrasonic technique uses a set of multiple transducers to detect and size cracks, voids, and laminations radially and circumferentially. Welds are also inspected for defects. The system is designed to inspect stainless steel and Inconel tubes ranging from 53.8 mm (2.12 in.) to 101.6 mm (4 in.) inner diameter with wall thickness on the order of 5 mm. The inspection head contains seven transducers mounted in a surface-following device. Six angle-beam transducers generate shear waves in the tubes. Two of the six are oriented to detect circumferential cracks, and two detect axial cracks. Although each of these four transducers is used in the pulse-echo mode, they are oriented in aligned sets so pitch-catch operation is possible if desired. The remaining angle-beam transducers are angulated to detect flaws that are off axial or circumferential orientation. The seventh transducer is used for longitudinal inspection and detects and sizes laminar-type defects

Localization of a Robotic Crawler for CANDU Fuel Channel Inspection

Science.gov (United States)

Manning, Mark

sensor fusion algorithm for use in this application. Benchmarking was completed to compare the accuracy achieved by the UKF algorithm to other data fusion algorithms. When compared to other algorithms, the UKF demonstrated the best accuracy when considering all likely sources of error such as sensor failure and surface unevenness. The test results show that the localization system is able to achieve a worst case positional accuracy of +/- 3.6 mm for the robot crawler over the full 6350 mm distance that the robot travels inside the pressure tube. This is extrapolated from the test results completed over the shorter length test bench with simulated surface unevenness. The key benefits of the pipe crawling robot when compared to the current system include: reduced dosage to workers and the reduced outage time. The advantages are due to the fact that the robot can be automated and multiple inspection robots can be deployed simultaneously. The current inspection system is only able to complete one inspection at a time.

Design of 3-D Printed Concentric Tube Robots.

Science.gov (United States)

Morimoto, Tania K; Okamura, Allison M

2016-12-01

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient's body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In this paper, we define the design requirements and manufacturing constraints for 3-D printed concentric tube robots and experimentally demonstrate the capabilities of these robots. While numerous 3-D printing technologies and materials can be used to create such robots, one successful example uses selective laser sintering to make an outer tube with a polyether block amide and uses stereolithography to make an inner tube with a polypropylene-like material. This enables a tube pair with precurvatures of 0.0775 and 0.0455 mm -1 , which can withstand strains of 20% and 5.5% for the outer and inner tubes, respectively.

GTSP, automatic ultrasonic inspection of Guide Tube Support Pin in nuclear power plants

International Nuclear Information System (INIS)

2008-01-01

1 - Description of program or function: GTSP Visitor is a program for automatic detection of known object's position in video frames. It is especially designed for automatic ultrasonic inspection of guide tube support pin (GTSP) in nuclear power plant. 2 - Methods: A GTSP and its position are detected by two-step matched filter algorithm. In first step, a video frame including GTSPs are transformed by DFT. DFTed image is multiplied by matched filter, made from a guide tube image, in frequency domain for estimate Guide Tube center position. Guide Tube areas around estimated center position are erased (pixel values of image are filled with zeros). In next step, image whose guide tube areas were erased is processed as described above but using a different matched filter made from a support pin?s image. Then the positions of two GTSPs are estimated and their orientation is estimated too. Finally its position and orientations are used for control the robot toward the desired position. 3 - Restrictions on the complexity of the problem: Robot control is out of the scope of this program. OpenCV and compatible camera are necessary

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

Heat exchanger tube inspection using ultrasonic arrays

International Nuclear Information System (INIS)

Meyer, P.A.; Carodiskey, T.J.

1986-01-01

Tubing used in industrial heat exchangers is often subject to failure caused by corrosion and cracking. Technical conferences are used as a forum in the steam generator industry to ensure that the failure mechanisms are well understood and that the quality of the heat exchanger is maintained. The quality of a heat exchanger can be thought of as its ability to operate to design specifications over its intended life. This is the motivation to inspect and evaluate these devices periodically. Inspection, however, normally requires shutdown of the heat exchanger which is costly but is much more acceptable than an unscheduled shutdown due to failure of a tube. Therefore, the degree of inspection is established by balancing the cost of inspection with the risk of a tube failure. Any method of reducing the cost of inspection will permit a higher degree of inspection and, therefore, improve heat exchanger quality. This paper reviews the design and performance of an improved method of ultrasonic inspection of heat exchanger tubing with emphasis on applications in the nuclear industry

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)

An automated miniature robotic vehicle inspection system

Energy Technology Data Exchange (ETDEWEB)

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

2014-02-18

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

An automated miniature robotic vehicle inspection system

International Nuclear Information System (INIS)

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

2014-01-01

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

Shape Modeling of a Concentric-tube Continuum Robot

DEFF Research Database (Denmark)

Bai, Shaoping; Xing, Charles Chuhao

2012-01-01

Concentric-tube continuum robots feature with simple and compact structures and have a great potential in medical applications. The paper is concerned with the shape modeling of a type of concentric-tube continuum robot built with a collection of super-elastic NiTiNol tubes. The mechanics...... is modeled on the basis of energy approach for both the in-plane and out-plane cases. The torsional influences on the shape of the concentric-tube robots are considered. An experimental device was build for the model validation. The results of simulation and experiments are included and analyzed....

Wolsong 3 and 4 steam generator tube inspection

International Nuclear Information System (INIS)

Jang, Kyoung Sik; Son, Tai Bong; Kwon, Dong Ki; Choi, Jin Hyuk

2001-01-01

During the pre-service inspection for Wolsong unit 3 and 4 in 1997/1998 respectively, 17 distorted roll transition indications (over expanded beyond tubesheet secondary face) were identified at the unit 4 (S/G B, D). Six(6) tubes out of these tubes were plugged in 1998. However the first periodic inspection identified additional 110 indications in 1999 and 2000. The additionally identified 110 indication call, not reported at the pre-service inspection, are; 2 not-finally-expanded-tubes and 108 distorted roll transition tubes. Design limit of each steam generator tube plugging is 6.4.%. Plugging was performed by the steam generator manufacturer under the warranty. When distorted roll transition indications were first identified on the unit 4 in 1998 the degree of over-expansion was measured using an inner dial-gage to make the disposition of nonconformance report. 2 Not-finally-expanded-tubes were plugged and 10 tubes out of 108 distorted roll transition tubes were also plugged as a preventive measure

Surgeon Design Interface for Patient-Specific Concentric Tube Robots.

Science.gov (United States)

Morimoto, Tania K; Greer, Joseph D; Hsieh, Michael H; Okamura, Allison M

2016-06-01

Concentric tube robots have potential for use in a wide variety of surgical procedures due to their small size, dexterity, and ability to move in highly curved paths. Unlike most existing clinical robots, the design of these robots can be developed and manufactured on a patient- and procedure-specific basis. The design of concentric tube robots typically requires significant computation and optimization, and it remains unclear how the surgeon should be involved. We propose to use a virtual reality-based design environment for surgeons to easily and intuitively visualize and design a set of concentric tube robots for a specific patient and procedure. In this paper, we describe a novel patient-specific design process in the context of the virtual reality interface. We also show a resulting concentric tube robot design, created by a pediatric urologist to access a kidney stone in a pediatric patient.

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.

Visual beam tube inspection at the TRIGA reactor Vienna

International Nuclear Information System (INIS)

Boeck, H.; Musilek, A.; Villa, M.

2006-01-01

Of the four TRIGA beam tubes two have been visually inspected in 1985. Prior to the inspection the reactor was shut down for 3 weeks. The fuel elements around the beam tubes were removed. Stainless steel dummy elements were inserted in the fuel positions to shield the core radiation. The active part of the Fast Rabbit Tube was removed into the beam tube loading device and transferred to an interim storage: Front dose rate was ∼ 50 mSv/h. Generally the beam tube was very clean, after the last inspection about 30 years ago. A1 cm cut was observed at the beam tube front end. A rigid endoscope was used to check the beam tube's inner surface using a 90 degree deflection objective and photo- and video equipment. The direct dose rate in front of the beam tube was about 30 mSv/h. The beam tube was vacuum cleaned. A corroded shielding tank containing boric acid has leaked. A wooden collimator partially disintegrating due to extreme temperature was removed from beam tube D. Documentation of the inspection for visible defects is produced for later comparison

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

Inspection tool for butt-welded tubing

Science.gov (United States)

Horman, D. P.

1977-01-01

Inspection tool for tubing consists of metal casing housing elastic collar. Collar is clamped around weld site under test. Leakage through weld is contained within chamber and is bled to detector via tubing attached to fitting. Tool, originally designed to detect fluid leakage in tubing, can be used to detect gas leaks.

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)

Design of 3-D Printed Concentric Tube Robots

OpenAIRE

Morimoto, Tania K.; Okamura, Allison M.

2016-01-01

Concentric tube surgical robots are minimally invasive devices with the advantages of snake-like reconfigurability, long and thin form factor, and placement of actuation outside the patient’s body. These robots can also be designed and manufactured to acquire targets in specific patients for treating specific diseases in a manner that minimizes invasiveness. We propose that concentric tube robots can be manufactured using 3-D printing technology on a patient- and procedure-specific basis. In ...

Ferromagnetic material inspection for feedwater heater and condenser tubes

International Nuclear Information System (INIS)

Anon.

1987-01-01

In recent years, special ferritic stainless steels, such as AL29-4C/sup TM/, Sea-Cure/sup TM/, E-Brite/sup TM/, 439, and similar alloys have been introduced as tube material in condensers, feedwater heaters, moisture separator/reheaters, and other heat exchangers. In addition, carbon steel tubes are widely used in feedwater heaters and heat exchangers in chemical plants. The main problem with the in-service inspection of these ferritic alloys and carbon steel tubes lies in their highly ferromagnetic properties. These properties severely limit the application of the standard eddy current techniques. The effort was undertaken under EPRI sponsorship to develop a reliable technique for in-service inspection of ferromagnetic tubes. The new method combines the measurement of magnetic flux leakage generated around the defects with measurement of total flux in the tube wall. The heart of the inspection system is a special ID probe that magnetizes the tube and generates signals for any tube defect. A permanent record of inspection is provided with a strip-chart or magnetic tape recorder. The laboratory and field evaluation of this new system demonstrated its very good sensitivity to small defects, its reliability, and its ruggedness. Defects as small as 10% external wall loss in heavy wall carbon steel tube were detected. Tubes in the power plant were inspected at a rate of 300-500 tubes per eight-hour shift. The other advantages of this newly developed technique are its simplicity, low cost of instrumentation, easy data interpretation, and full portability

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

Ultrasonic inspection experience of steam generator tubes at Ontario Hydro and the TRUSTIE inspection system

International Nuclear Information System (INIS)

Choi, E.I.; Jansen, D.

1998-01-01

Ontario Hydro have been using ultrasonic test (UT) technique to inspect steam generator (SG) tubes since 1993. The UT technique has higher sensitivity in detecting flaws in SG tubes and can characterize the flaws with higher accuracy. Although an outside contractor was used initially, Ontario Hydro has been using a self-developed system since 1995. The TRUSTIE system (Tiny Rotating UltraSonic Tube Inspection Equipment) was developed by Ontario Hydro Technologies specifically for 12.7 mm outside diameter (OD) tubes, and later expanded to larger tubes. To date TRUSTIE has been used in all of Ontario Hydro's nuclear generating stations inspecting for flaws such as pitting, denting, and cracks at top-of-tubesheet to the U-bend region. (author)

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)

Probabilistic methodology for assessing steam generator tube inspection - Phase II: CANTIA - a probabilistic method for assessing steam generator tube inspections

International Nuclear Information System (INIS)

Harris, J.E.; Gorman, J.A.; Turner, A.P.L.

1997-03-01

The objectives of this project were to develop a computer-based method for probabilistic assessment of inspection strategies for steam generator tubes, and to document the source code and to provide a user's manual for it. The program CANTIA was created to fulfill this objective, and the documentation and verification of the code is provided in this volume. The user's manual for CANTIA is provided as a separate report. CANTIA uses Monte Carlo techniques to determine approximate probabilities of steam generator tube failures under accident conditions and primary-to-secondary leak rates under normal and accident conditions at future points in time. The program also determines approximate future flaw distributions and non-destructive examination results from the input data. The probabilities of failure and leak rates and the future flaw distributions can be influenced by performing inspections of the steam generator tubes at some future points in time, and removing defective tubes from the population. The effect of different inspection and maintenance strategies can therefore be determined as a direct effect on the probability of tube failure and primary-to-secondary leak rate

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.

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)

Development and performance of inspection equipment for pressure tubes in Fugen

International Nuclear Information System (INIS)

Naruo, Kazuteru; Tanimoto, Ken-ichi; Ohta, Takeo; Nakamura, Takahisa; Imaizumi, Kiyoshi.

1984-01-01

The pressure tubes of Fugen are the important equipment as the many tubes compose the core, and since they are made of Zr-2.5% Nb alloy which has been used for the first time in Japan, they have become the object of monitoring (the follow-up investigation of the change of inside diameter, the presence of defects and so on) in addition to the in-service inspection. In this paper, on the inspection equipment for pressure tubes, that has been developed independently by the Power Reactor and Nuclear Fuel Development Corp. in order to carry out the ISI and monitoring, the course of development and the construction and the performance are reported, and the results of having used it for the fourth regular inspection of Fugen are described. The 10-year plan of the ISI and monitoring of pressure tubes is shown. The core of Fugen is composed of 224 pressure tubes, therefore, the inspection is carried out by sampling inspection. The monitoring is carried out on four tubes for the follow-up investigation and one tube that shows the severest operation history at the time of inspection. The equipment performs ultrasonic flaw detection, the measurement of inside diameter and the visual inspection of internal surface. (Kako, I.)

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

Ultrasonic inspection of tube to tube plate welds

International Nuclear Information System (INIS)

Telford, D.W.; Peat, T.S.

1985-01-01

To monitor the deterioration of a weld between a tube and tube plate which has been repaired by a repair sleeve inside the tube and brazed at one end to the tube, ultrasound from a crystal at the end of a rod is launched, in the form of Lamb-type waves, into the tube through the braze and allowed to travel along the tube to the weld and be reflected back along the tube. The technique may also be used for the type of heat exchanger in which, during construction, the tubes are welded to the tube plate via external sleeves in which case the ultrasound is used in a similar manner to inspect the sleeve/tube plate weld. an electromagnetic transducer may be used to generate the ultrasound. The ultrasonic head comprising the crystal and an acoustic baffle is mounted on a Perspex (RTM) rod which may be rotated by a stepping motor. Echo signals from the region of deterioration may be isolated by use of a time gate in the receiver. The device primarily detects circumferentially orientated cracks, and may be used in heat exchangers in nuclear power plants. (author)

Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints

Science.gov (United States)

Bergeles, Christos; Gosline, Andrew H.; Vasilyev, Nikolay V.; Codd, Patrick J.; del Nido, Pedro J.; Dupont, Pierre E.

2015-01-01

Concentric tube robots are catheter-sized continuum robots that are well suited for minimally invasive surgery inside confined body cavities. These robots are constructed from sets of pre-curved superelastic tubes and are capable of assuming complex 3D curves. The family of 3D curves that the robot can assume depends on the number, curvatures, lengths and stiffnesses of the tubes in its tube set. The robot design problem involves solving for a tube set that will produce the family of curves necessary to perform a surgical procedure. At a minimum, these curves must enable the robot to smoothly extend into the body and to manipulate tools over the desired surgical workspace while respecting anatomical constraints. This paper introduces an optimization framework that utilizes procedureor patient-specific image-based anatomical models along with surgical workspace requirements to generate robot tube set designs. The algorithm searches for designs that minimize robot length and curvature and for which all paths required for the procedure consist of stable robot configurations. Two mechanics-based kinematic models are used. Initial designs are sought using a model assuming torsional rigidity. These designs are then refined using a torsionally-compliant model. The approach is illustrated with clinically relevant examples from neurosurgery and intracardiac surgery. PMID:26380575

Elastic Stability of Concentric Tube Robots: A Stability Measure and Design Test.

Science.gov (United States)

Gilbert, Hunter B; Hendrick, Richard J; Webster, Robert J

2016-02-01

Concentric tube robots are needle-sized manipulators which have been investigated for use in minimally invasive surgeries. It was noted early in the development of these devices that elastic energy storage can lead to rapid snapping motion for designs with moderate to high tube curvatures. Substantial progress has recently been made in the concentric tube robot community in designing snap-free robots, planning stable paths, and characterizing conditions that result in snapping for specific classes of concentric tube robots. However, a general measure for how stable a given robot configuration is has yet to be proposed. In this paper, we use bifurcation and elastic stability theory to provide such a measure, as well as to produce a test for determining whether a given design is snap-free (i.e. whether snapping can occur anywhere in the unloaded robot's workspace). These results are useful in designing, planning motions for, and controlling concentric tube robots with high curvatures.

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.

Heat Exchanger Tube Inspection of Nuclear Power Plants using IRIS Technique

International Nuclear Information System (INIS)

Yoon, Byung Sik; Yang, Seung Han; Song, Seok Yoon; Kim, Yong Sik; Lee, Hee Jong

2005-01-01

Inspection of heat exchange tubing include steam generator of nuclear power plant mostly performed with eddy current method. Recently, various inspection technique is available such as remote field eddy current, flux leakage and ultrasonic methods. Each of these techniques has its merits and limitations. Electromagnetic techniques are very useful to locate areas of concern but sizing is hard because of the difficult interpretation of an electric signature. On the other hand, ultrasonic methods are very accurate in measuring wall loss damage, and are reliable for detecting cracks. Additionally ultrasound methods is not affected by support plates or tube sheets and variation of electrical conductivity or permeability. Ultrasound data is also easier to analyze since the data displayed is generally the remaining wall thickness. It should be emphasized that ultrasound is an important tool for sizing defects in tubing. In addition, it can be used in situations where eddy current or remote field eddy current is not reliable, or as a flaw assessment tool to supplement the electromagnetic data. The need to develop specialized ultrasonic tools for tubing inspection was necessary considering the limitations of electromagnetic techniques to some common inspection problems. These problems the sizing of wall loss in carbon steel tubes near the tube sheet or support plate, sizing internal erosion damage, and crack detection. This paper will present an IRIS(Internal Rotating Inspection System) ultrasonic tube inspection technique for heat exchanger tubing in nuclear power plant and verify inspection reliability for artificial flaw embedded to condenser tube

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

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.

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

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.)

Design Concept of Array ECT Sensor for Steam Generator Tubing Inspection

Energy Technology Data Exchange (ETDEWEB)

Cho, Chan Hee; Lee, Tae Hun; Yoo, Hyun Ju [Korea Hydro and Nuclear Power Co. Ltd. CRI, Daejeon (Korea, Republic of)

2015-05-15

The eddy current testing, which is one of the nondestructive examination methods, is widely used for the inspection of heat exchangers including steam generator tubing in the nuclear power plant. It uses electromagnetic induction to detect flaws in conductive materials. Two types of eddy current probes are conventionally used for the inspection of steam generator tubing according to the main purpose. One is the bobbin probe technology and the other is the rotating probe. During the inspection, they have restrictions for the flaw detection or the inspection speed. An array probe can be alternative to the bobbin and rotating probes. The design concept of array coils with high sensitivity is described in this paper. It is expected that the eddy current testing using this type of array sensors may provide high detectability and resolution for flaws in steam generator tubing. Eddy current technology has some barriers for the inspection of steam generator tubing in the nuclear power plant. Bobbin probes offer poor circumferential crack detection and rotating probes are time and money consuming due to the mechanical rotation. Array probe inspection technique can replace bobbin and rotating probe techniques due to its sensitivity for flaw detection and inspection speed. In general, circular-shaped coils are considered in an array eddy current probe.

Eddy current technology for heat exchanger and steam generator tube inspection

Energy Technology Data Exchange (ETDEWEB)

Obrutsky, L.; Lepine, B.; Lu, J.; Cassidy, R.; Carter, J. [Atomic Energy of Canada Limited, Chalk River, Ontario (Canada)

2004-07-01

A variety of degradation modes can affect the integrity of both heat exchanger (HX) and balance of plant tubing, resulting in expensive repairs, tube plugging or replacement of tube bundles. One key component for ensuring tube integrity is inspection and monitoring for detection and characterization of the degradation. In-service inspection of HX and balance of plant tubing is usually carried out using eddy current (EC) bobbin coils, which are adequate for the detection of volumetric degradations. However, detection and quantification of additional modes of degradation such as pitting, intergranular attack (IGA), axial cracking and circumferential cracking require specialized probes. The need for timely, reliable detection and characterization of these modes of degradation is especially critical in Nuclear Generating Stations. Transmit-receive single-pass array probes, developed by AECL, offer high defect detectability in conjunction with fast and reliable inspection capabilities. They have strong directional properties, permitting probe optimization for circumferential or axial crack detection. Compared to impedance probes, they offer improved performance in the presence of variable lift-off. This EC technology can help resolve critical detection issues at susceptible areas, such as the rolled-joint transitions at the tubesheet, U-bends and tube-support intersections. This paper provides an overview of the operating principles and the capabilities of advanced ET inspection technology available for HX tube inspection. Examples of recent application of this technology in Nuclear Generating Stations (NGSs) are discussed. (author)

Eddy current technology for heat exchanger and steam generator tube inspection

International Nuclear Information System (INIS)

Obrutsky, L.; Lepine, B.; Lu, J.; Cassidy, R.; Carter, J.

2004-01-01

A variety of degradation modes can affect the integrity of both heat exchanger (HX) and balance of plant tubing, resulting in expensive repairs, tube plugging or replacement of tube bundles. One key component for ensuring tube integrity is inspection and monitoring for detection and characterization of the degradation. In-service inspection of HX and balance of plant tubing is usually carried out using eddy current (EC) bobbin coils, which are adequate for the detection of volumetric degradations. However, detection and quantification of additional modes of degradation such as pitting, intergranular attack (IGA), axial cracking and circumferential cracking require specialized probes. The need for timely, reliable detection and characterization of these modes of degradation is especially critical in Nuclear Generating Stations. Transmit-receive single-pass array probes, developed by AECL, offer high defect detectability in conjunction with fast and reliable inspection capabilities. They have strong directional properties, permitting probe optimization for circumferential or axial crack detection. Compared to impedance probes, they offer improved performance in the presence of variable lift-off. This EC technology can help resolve critical detection issues at susceptible areas, such as the rolled-joint transitions at the tubesheet, U-bends and tube-support intersections. This paper provides an overview of the operating principles and the capabilities of advanced ET inspection technology available for HX tube inspection. Examples of recent application of this technology in Nuclear Generating Stations (NGSs) are discussed. (author)

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

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.

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

Recurrent inspection of tubes

International Nuclear Information System (INIS)

Andersson, S.

1984-01-01

Recommendations concerning the selection of areas for the inspection of tubes have been outlined. The aim is to focus the control on the regions which are important for the safety and where damage is supposed to take place. The number of zones will depend on the risk factors as judged by experts. The localizing will be based upon probable damaging mechanisms. A certain number of areas should be chosen at random. (G.B.)

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

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)

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

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.

Evaluation of techniques for inspection and diagnostics of HWR pressure tubes

International Nuclear Information System (INIS)

Choi, Jong-Ho

2008-01-01

Efficient and accurate inspection and diagnostic techniques for various reactor components and systems, especially pressure tubes for Heavy Water Reactors (HWRs), are an important factor in assuring reliable and safe plant operation. To foster international collaboration in the efficient and safe use of nuclear power, the IAEA conducted a Coordinated Research Project (CRP) on Inter-comparison of Techniques for HWR Pressure Tube Inspection and Diagnostics. The objective of the CRP was to inter-compare inspection and diagnostic techniques, in use and being developed, for structural integrity assessment of HWR pressure tubes. During the first phase of the CRP, participants investigated the capability of different techniques to detect and characterize flaws. During the second phase, participants collaborated to determine the hydrogen concentration and to detect and characterize hydride blisters in zirconium alloy pressure tubes. Eight organizations from six countries, which operate HWRs, have participated in this CRP, Most of the techniques examined are well established and many of them are regularly used during in-service inspection of pressure tubes. The inter-comparison of these techniques provides a platform for identifying a particular technique (or a set of techniques), which is more accurate and reliable as compared to others for a specified task. The CRP also witnessed some new methodologies, which can be implemented on in-service inspection tools. These new techniques could complement the existing ones to overcome their limitations, thereby improving the reliability and accuracy of in-service inspection. This CRP also identified future areas of research and development. (author)

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.

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.

Robotic inspection of fiber reinforced composites using phased array UT

Science.gov (United States)

Stetson, Jeffrey T.; De Odorico, Walter

2014-02-01

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

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.

Eddy current inspection on heat exchanger tubes - problems and limitations

International Nuclear Information System (INIS)

Ilham Mukriz; Zainal Abidin Mohamed; Hairul Hasmoni Khairul Anuar; Mohd Salleh; Mahmood Dollah

2005-01-01

This paper focus on problems associated to eddy current inspection of heat exchanger tubes. A brief review on heat exchanger design and operation is presented. Eddy current technique in identifying inhomogeneity in tested tubes is discussed, highlighting its limitation in distinguishing between real pit type defects and other mundane anomalies. The limitation of the eddy current probe and equipment pertinent to the inspection are identified and areas of improvement are discussed. (Author)

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

Optimizing Tube Precurvature to Enhance Elastic Stability of Concentric Tube Robots.

Science.gov (United States)

Ha, Junhyoung; Park, Frank C; Dupont, Pierre E

2017-02-01

Robotic instruments based on concentric tube technology are well suited to minimally invasive surgery since they are slender, can navigate inside small cavities and can reach around sensitive tissues by taking on shapes of varying curvature. Elastic instabilities can arise, however, when rotating one precurved tube inside another. In contrast to prior work that considered only tubes of piecewise constant precurvature, we allow precurvature to vary along the tube's arc length. Stability conditions for a planar tube pair are derived and used to formulate an optimal design problem. An analytic formulation of the optimal precurvature function is derived that achieves a desired tip orientation range while maximizing stability and respecting bending strain limits. This formulation also includes straight transmission segments at the proximal ends of the tubes. The result, confirmed by both numerical and physical experiment, enables designs with enhanced stability in comparison to designs of constant precurvature.

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.

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)

Computer control in nondestructive testing illustrated by an automatic ultrasonic tube inspection system

International Nuclear Information System (INIS)

Gundtoft, H.E.; Nielsen, N.

1976-06-01

In Risoe's automatic tube inspection system, data (more than half a million per tube) from ultrasonic dimension measurements and defect inspections are fed into a computer that simultaneously calculates and evaluates the results. (author)

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

Performance demonstration requirements for eddy current steam generator tube inspection

International Nuclear Information System (INIS)

Kurtz, R.J.; Heasler, P.G.; Anderson, C.M.

1992-10-01

This paper describes the methodology used for developing performance demonstration tests for steam generator tube eddy current (ET) inspection systems. The methodology is based on statistical design principles. Implementation of a performance demonstration test based on these design principles will help to ensure that field inspection systems have a high probability of detecting and correctly sizing tube degradation. The technical basis for the ET system performance thresholds is presented. Probability of detection and flaw sizing tests are described

Validating eddy current array probes for inspecting steam generator tubes

International Nuclear Information System (INIS)

Sullivan, S.P.; Cecco, V.S.; Obrutsky, L.S.

1997-01-01

A CANDU nuclear reactor was shut down for over one year because steam generator (SG) tubes had failed with outer diameter stress-corrosion cracking (ODSCC) in the U-bend section. Novel, single-pass eddy current transmit-receive probes, denoted as C3, were successful in detecting all significant cracks so that the cracked tubes could be plugged and the unit restarted. Significant numbers of tubes with SCC were removed from a SG in order to validate the results of the new probe. Results from metallurgical examinations were used to obtain probability-of-detection (POD) and sizing accuracy plots to quantify the performance of this new inspection technique. Though effective, the above approach of relying on tubes removed from a reactor is expensive, in terms of both economic and radiation-exposure costs. This led to a search for more affordable methods to validate inspection techniques and procedures. Methods are presented for calculating POD curves based on signal-to-noise studies using field data. Results of eddy current scans of tubes with laboratory-induced ODSCC are presented with associated POD curves. These studies appear promising in predicting realistic POD curves for new inspection technologies. They are being used to qualify an improved eddy current array probe in preparation for field use. (author)

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.)

Improved in-service inspection program for management of degradation in steam generator tubing

International Nuclear Information System (INIS)

Kurtz, R.; Heasler, P.; Muscara, J.

1992-01-01

This paper presents an overview of significant results from NRC-sponsored research on steam generator tube integrity and inspection. Burst test results are described along with empirical models to relate flaw geometry and size to tube burst pressure. Results of round robin examinations of a retired-from-service steam generator to determine eddy current inspection reliability are presented. An evaluation and comparison of various sampling plans for in-service inspection of steam generators is discussed. Finally, performance demonstration qualification efforts for eddy current inspection systems are described

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.

Apparatus for the in-situ inspection of tubes while submerged in a liquid

International Nuclear Information System (INIS)

Abell, G.E.; Plavsity, L.; Sattler, F.J.

1981-01-01

Before inspecting the tubes in a nuclear steam generator it has previously been necessary to drain the tubes of primary coolant. This invention provides an apparatus which makes it possible to inspect steam generator tubes which are partially filled with primary coolant. An eddy current sensor and its cable pass through a conduit into which a drying medium such as compressed air is introduced, removing coolant adhering to the surface of the cable. (LL)

Problems and limitations of eddy current tube inspection

International Nuclear Information System (INIS)

Ilham Mukriz Zainal Abidin; Khairul Anuar Mohd Salleh; Mohamed Hairul Hasmoni

2003-01-01

Incomplete appreciation of eddy current limitations has contributed to both under-utilization and misapplication of the technique. A brief review on the physical principle of eddy current is presented. Eddy current technique in identifying inhomogeneity in tested tubes is discussed, highlighting its limitation in distinguishing between real pit type defects and other mundane anomalies. The variables responsible for limitation in eddy current tube inspection are discussed and alternative approaches, where they exist, are suggested. (Author)

A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting

OpenAIRE

Su, Hao; Li, Gang; Rucker, D. Caleb; Webster, Robert J.; Fischer, Gregory S.

2016-01-01

This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system. This system enables MRI-guided deployment of a precurved and steerable concentric tube continuum mechanism, and is suitable for clinical applications where a curved trajectory is needed. This compact 6 degree-of-freedom (DOF) robotic system is piezoelectrically-actuated, and allows simultaneous robot motion and imaging with no visually...

Inspection of surface defects for cladding tube with laser

International Nuclear Information System (INIS)

Senoo, Shigeo; Igarashi, Miyuki; Satoh, Masakazu; Miura, Makoto

1978-01-01

This paper presents the results of experiment on mechanizing the visual inspection of surface defects of cladding tubes and improving the reliability of surface defect inspection. Laser spot inspection method was adopted for this purpose. Since laser speckle pattern includes many informations about surface aspects, the method can be utilized as an effective means for detection or classification of the surface defects. Laser beam is focussed on cladding tube surfaces, and the reflected laser beam forms typical stellar speckle patterns on a screen. Sample cladding tubes are driven in longitudinal direction, and a photo-detector is placed at a position where secondary reflection will fall on the detector. Reflected laser beam from defect-free surfaces shows uniform distribution on the detector. When the incident focussed laser beam is directed to defects, the intensity of the reflected light is reduced. In the second method, laser beam is scanned by a rotating cube mirror. As the results of experiment, the typical patterns caused by defects were observed. It is clear that reflection patterns change with the kinds of defects. The sensitivity of defect detection decreases with the increase in laser beam diameter. Surface defect detection by intensity change was also tested. (Kato, T.)

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)

Potential for ultrasonic inspection of heat exchanger tubes

International Nuclear Information System (INIS)

Ward, M.J.

1980-01-01

Preliminary results of a program to develop an ultrasonic inspection method for heat-exchanger tubes, to be used as alternative or complementary to eddy-curent testing were sufficiently promising to warrant further study. Problems were encountered in adapting a standard commercial transducer and a custom-made transducer to provide full 360 degree coverage of an area for in-service inspection, but it might be possible to overcome these problems. The results showed it might prove impossible to design a transducer to handle the tight U-bends in some heat exchangers. The most promising area of application for ultrasonic inspection was found to be around the tubesheet. (DN)

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.

Performance demonstration tests for eddy current inspection of steam generator tubing

International Nuclear Information System (INIS)

Kurtz, R.J.; Heasler, P.G.; Anderson, C.M.

1996-05-01

This report describes the methodology and results for development of performance demonstration tests for eddy current (ET) inspection of steam generator tubes. Statistical test design principles were used to develop the performance demonstration tests. Thresholds on ET system inspection performance were selected to ensure that field inspection systems would have a high probability of detecting and and correctly sizing tube degradation. The technical basis for the ET system performance thresholds is presented in detail. Statistical test design calculations for probability of detection and flaw sizing tests are described. A recommended performance demonstration test based on the design calculations is presented. A computer program for grading the probability of detection portion of the performance demonstration test is given

Performance demonstration tests for eddy current inspection of steam generator tubing

Energy Technology Data Exchange (ETDEWEB)

Kurtz, R.J.; Heasler, P.G.; Anderson, C.M.

1996-05-01

This report describes the methodology and results for development of performance demonstration tests for eddy current (ET) inspection of steam generator tubes. Statistical test design principles were used to develop the performance demonstration tests. Thresholds on ET system inspection performance were selected to ensure that field inspection systems would have a high probability of detecting and and correctly sizing tube degradation. The technical basis for the ET system performance thresholds is presented in detail. Statistical test design calculations for probability of detection and flaw sizing tests are described. A recommended performance demonstration test based on the design calculations is presented. A computer program for grading the probability of detection portion of the performance demonstration test is given.

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.

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

Evaluation of the eddy-current method for the inspection of steam generator tubing: denting

International Nuclear Information System (INIS)

Brown, S.D.; Flora, J.H.

1977-01-01

Continued evaluation of existing eddy-current in-service inspection (ISI) methods for steam generator tubing has emphasized the effects of denting. Denting is a circumferential deformation of the tube in the support region as a result of the formation of a magnetite, Fe 3 O 4 , corrosion product on the carbon steel tube support plate in the crevice between the support plate and the tube wall. The effects of denting on eddy current inspection are twofold: (1) The detection and measurement of defects in the dented region is hampered by the distortion of the eddy-current response signals caused by the dents and (2) large dents may prevent the passage of high fill factor probes forcing the inspection teams to use a smaller probe in undented regions. Unless appropriate measures are taken, less reliable detection of defects and estimation of their depth can result. The report presents an experimental evaluation of existing eddy-current ISI methods when used to inspect dented regions. Tubes were mechanically dented to simulate various degrees of service induced denting. These tubes were then inserted in carbon steel tube support plates and the crevice region between the support plate and tube was subsequently packed with powdered magnetite. Diametral dent sizes considered during this program varied between 1 and 10 mils. Eddy-current signal patterns and strip chart recordings were obtained using a variety of test parameters, such as frequency, phase rotation and coil configuration, on tube samples containing various degrees of denting and with several types of defects in the dented system

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

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.

Automatic weld joint X-ray inspection

International Nuclear Information System (INIS)

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

1990-01-01

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

Eddy current inspection of weld defects in tubing

Science.gov (United States)

Katragadda, G.; Lord, W.

1992-01-01

An approach using differential probes for the inspection of weld defects in tubing is studied. Finite element analysis is used to model the weld regions and defects. Impedance plane signals are predicted for different weld defect types and compared wherever possible with signals from actual welds in tubing. Results show that detection and sizing of defects in tubing is possible using differential eddy current techniques. The phase angle of the impedance plane trajectory gives a good indication of the sizing of the crack. Data on the type of defect can be obtained from the shape of the impedance plane trajectory and the phase. Depending on the skin depth, detection of outer wall, inner wall, and subsurface defects is possible.

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

A Concentric Tube Continuum Robot with Piezoelectric Actuation for MRI-Guided Closed-Loop Targeting

Science.gov (United States)

Su, Hao; Li, Gang; Rucker, D. Caleb; Webster, Robert J.; Fischer, Gregory S.

2017-01-01

This paper presents the design, modeling and experimental evaluation of a magnetic resonance imaging (MRI)-compatible concentric tube continuum robotic system. This system enables MRI-guided deployment of a precurved and steerable concentric tube continuum mechanism, and is suitable for clinical applications where a curved trajectory is needed. This compact 6 degree-of-freedom (DOF) robotic system is piezoelectrically-actuated, and allows simultaneous robot motion and imaging with no visually observable image artifact. The targeting accuracy is evaluated with optical tracking system and gelatin phantom under live MRI-guidance with Root Mean Square (RMS) errors of 1.94 and 2.17 mm respectively. Furthermore, we demonstrate that the robot has kinematic redundancy to reach the same target through different paths. This was evaluated in both free space and MRI-guided gelatin phantom trails, with RMS errors of 0.48 and 0.59 mm respectively. As the first of its kind, MRI-guided targeted concentric tube needle placements with ex vivo porcine liver are demonstrated with 4.64 mm RMS error through closed-loop control of the piezoelectrically-actuated robot. PMID:26983842

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)

Equilibrium Conformations of Concentric-tube Continuum Robots.

Science.gov (United States)

Rucker, D Caleb; Webster, Robert J; Chirikjian, Gregory S; Cowan, Noah J

2010-09-01

Robots consisting of several concentric, preshaped, elastic tubes can work dexterously in narrow, constrained, and/or winding spaces, as are commonly found in minimally invasive surgery. Previous models of these "active cannulas" assume piecewise constant precurvature of component tubes and neglect torsion in curved sections of the device. In this paper we develop a new coordinate-free energy formulation that accounts for general preshaping of an arbitrary number of component tubes, and which explicitly includes both bending and torsion throughout the device. We show that previously reported models are special cases of our formulation, and then explore in detail the implications of torsional flexibility for the special case of two tubes. Experiments demonstrate that this framework is more descriptive of physical prototype behavior than previous models; it reduces model prediction error by 82% over the calibrated bending-only model, and 17% over the calibrated transmissional torsion model in a set of experiments.

The PISC programme on defective steam generator tubes inspection summary report

International Nuclear Information System (INIS)

Birac, C.; Comby, R.; Maciga, G.; Zanella, G.; Perez Prat, J.; Estorff, U. von

1995-01-01

The PISC III Actions are intended to extend the results and methodologies of the previous PISC exercises, i.e. the validation of the capabilities of the various examination techniques when used on real defects in real components under realistic conditions of inspection. The objective of this action is relatively close to that of the heavy structures programmes: the experimental evaluation of the performance of test procedures used for steam generator tubes in nuclear power plants during in-service or pre-service inspections. The exercise is a capability exercise consisting of Round Robin Tests on individual tubes including calibration, training and blind test tubes. In this paper the main conclusions from the RRT conducted in the framework of Action 5 will be presented and discussed. (author). 7 refs, 4 figs, 2 tabs

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

Trends of degradation in steam generator tubes of Krsko NPP before the last planned inspection

International Nuclear Information System (INIS)

Cizelj, L.; Dvorsek, T.; Androjna, F.

1998-01-01

Full-length inspection of all active tubes in both Krsko steam generators resulted in a huge amount of inspection records. A computerized database was developed by Reactor Engineering division to accelerate the management of about 200.000 records. The database was designed to support the development and decision related to the plugging criteria for damaged tubes and is utilized to gain as much experience concerning the degradation of SG tube as possible. In this paper, two prevailing group of data are statistically analyzed: the axial cracks in expansion transitions at the top of tube sheet (TTS) and Outside Diameter Stress Corrosion Cracking at tube support plates (TSP). Especially ODSCC caused a vast majority of repaired tubes (e.g., plugs and sleeves). The influence of plant startups involving oxidizing transient on the repair rates of tubes affected by ODSCC is analyzed in some detail. The results are promising and show excellent correlation in SG 2 and reasonable fit in SG 1. Predictions of maximum expected number of tubes repaired due to ODSCC at the last planned inspection is given as 67 in SG 1 and 400 in SG 2. (author)

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.

Pre and post garter spring repositioning ultrasonic inspection of pressure tubes

International Nuclear Information System (INIS)

Desimone, C.; Katchadjian, P.; Tacchia, Mauricio

1997-01-01

This paper present a description of the ultrasonic cracked hydride blister detections system used for pre and post inspection of pressure tubes during garter spring repositioning in CNE (Embalse Nuclear Power Station). Ultrasonic system setup configuration, transducers characteristics, blister detection head, calibration of parameters, operating procedure, records of ultrasonic inspections and evaluation. (author) [es

Robots in P.W.R. nuclear powerplants

International Nuclear Information System (INIS)

Dubourg, M.

1987-01-01

The satisfactory operation of 37 900-MWe PWR powerplants in France, Belgium and South-Africa and the start-up of 1300 MWe powerplants allowed the development of a wide range of automatic units and robots for the periodic maintenance of nuclear plants, reducing the risk of ionizing radiation for the personnel. A large number of automated tools have been built. Among them: - inspection and maintenance systems for the tube bundle of steam generators, - robotized arms ROTETA and ROMEO for the heavy maintenance and delicate operations such as tube extraction or shot peening of tubes to improve their resistance to corrosion; - the versatile manipulator T.A.M. with electrically controlled articulations. The development of functionally versatile tools and robots and the integration of new technologies such as 3-D vision allowed the construction of the self-guided vehicle FRASTAR capable of moving within a nuclear building and in a cluttered environment. This vehicle includes means for avoiding isolated obstacles and can move on stairs [fr

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.

Parsimonious evaluation of concentric-tube continuum robot equilibrium conformation.

Science.gov (United States)

Rucker, Daniel Caleb; Webster Iii, Robert J

2009-09-01

Dexterous at small diameters, continuum robots consisting of precurved concentric tubes are well-suited for minimally invasive surgery. These active cannulas are actuated by relative translations and rotations applied at the tube bases, which create bending via elastic tube interaction. An accurate kinematic model of cannula shape is required for applications in surgical and other settings. Previous models are limited to circular tube precurvatures, and neglect torsional deformation in curved sections. Recent generalizations account for arbitrary tube preshaping and bending and torsion throughout the cannula, providing differential equations that define cannula shape. In this paper, we show how to simplify these equations using Frenet-Serret frames. An advantage of this approach is the interpretation of torsional components of the preset tube shapes as "forcing functions" on the cannula's differential equations. We also elucidate a process for numerically solving the differential equations, and use it to produce simulations illustrating the implications of torsional deformation and helical tube shapes.

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)

Fast and Accurate Non-destructive Testing System for Inspection of Canning Tubes

DEFF Research Database (Denmark)

Gundtoft, Hans Erik; Nielsen, E.

1973-01-01

The authors describe the development of an inspection bench for the non-destructive examination of canning tubes. The bench is original in that the internal diameter is calculated from exact measurement of the outer diameter and the wall thickness. The transducers for inspection and control are r...

Evaluation of reliability of EC inspection of VVER SG tubes

International Nuclear Information System (INIS)

Stanic, D.

2001-01-01

Evaluation of eddy current data collected during inspection of VVER steam generators is very complex task because of numerous parameters which have affect on eddy current signals. That was the reason that recently ago INETEC has started related scientific project in order to evaluate the reliability of eddy current (EC) inspection of VVER steam generator (SG) tubing. In the scope of project the following objectives will be investigated: 1. Determination of POD (Probability of detection) of various types degradation cracks, where their basic parameters are variables (basic parameters are depth, length, width, orientation, number) on three different sets of tubes (clean ideal tubes, tubes with pilgering, tubes electroplated with copper) 2. Sizing quality (accuracy, repeatability) (same data sets as defined in 1.) 3. Effect of fill factor on POD and sizing quality. 4. Effect of tube bends on POD and sizing quality. 5. Effect of other tube geometry variations on POD and sizing quality (tube ovality, transition zone region, expanded (rolled) part of tube, dents, dings). Investigation will start with bobbin probe technique which is the most used technique for general purpose VVER tube examination. Since INETEC is the only world company which successfully developed and applied rotating probe technique for VVER SG tubes, scope of the project will be extended on rotating probe technique utilizing 'pancake' and 'point' coil. Method reliability will be investigated first on the huge set of EDM notches representing various defect morphologies and simulating different factors, and the second part will be investigated on sets of degradation defects obtained by artificial corrosion. In the scope of the project the measures for enhancing the method reliability have to be determined. This considers the proper definition of parameters of examination system, as well as establishment of the suitable analysis procedures. This article presents the temporary results of the first part of

Inspection qualification as a tool to risk based ET ISI of VVER type SG tubes

International Nuclear Information System (INIS)

Horacek, L.

2002-01-01

A Pilot study on Eddy current inspection qualification of VVER 440 steam generator tubes, discussed in this paper, followed the ENIQ methodology principles and covered briefly the assumed scope of ET qualification, relevant elaborated qualification documents, known ISI limitations and a review of input information on component and defects determined for Eddy current inspection qualification of VVER 440 steam generator tubes. The information includes the fabrication of the test blocks with SG tube segments provided by intended defect simulations of realistic SCC type and basic data on the realistic SCC type defects manufacturing technology. Lessons learned from the development of manufacturing technology of SSC type of defects, regional blind tests, elaboration of the preliminary technical justification for Eddy current automated inspections, potential optimisation of inspection procedures, laboratory and practical open trials are summarised in the paper. The results of the Pilot study also especially in relation to POD curve being determined seem to be useful for practical operational ISI programme and Risk informed ISI decisions and the establishment of plugging criteria of VVER 440 and VVER 1000 type steam generator tubes. (orig.)

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.

Automation of inspection methods for eddy current testing of steam generator tubes

International Nuclear Information System (INIS)

Meurgey, P.; Baumaire, A.

1990-01-01

Inspection of all the tubes of a steam generator when the reactor is stopped is required for some of these exchangers affected by stress corrosion cracking. Characterization of each crack, in each tube is made possible by the development of software for processing the signals from an eddy current probe. The ESTELLE software allows a rapid increase of tested tubes, more than 80,000 in 1989 [fr

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

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.

The PISC programme on defective steam generator tubes inspection. A status report

International Nuclear Information System (INIS)

Birac, C.; Comby, R.; Maciga, G.; Von Estorff, U.; Zanella, G.L.

1994-06-01

The general objective of the PISC Program (Programme for the Inspection of Steel Components) is to assess experimentally procedures and techniques in use for the in-service inspection of pressure components. The program is mainly a round robin test, the results of which are compared with real characteristics of the flaws obtained by destructive analysis. Materials tested are INCONEL 600 tubes, diameter 22.22 mm, wall thickness 1.27 mm. The technique applied is eddy current testing. The program of capability tests on loose tubes was started in 1990, the round robin tests ended in 1993. The preliminary results are presented. (R.P.). 8 refs., 9 figs., 4 tabs

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 of sampling plans for in-service inspection of steam generator tubes

International Nuclear Information System (INIS)

Kurtz, R.J.; Heasler, P.G.; Baird, D.B.

1994-02-01

This report summarizes the results of three previous studies to evaluate and compare the effectiveness of sampling plans for steam generator tube inspections. An analytical evaluation and Monte Carlo simulation techniques were the methods used to evaluate sampling plan performance. To test the performance of candidate sampling plans under a variety of conditions, ranges of inspection system reliability were considered along with different distributions of tube degradation. Results from the eddy current reliability studies performed with the retired-from-service Surry 2A steam generator were utilized to guide the selection of appropriate probability of detection and flaw sizing models for use in the analysis. Different distributions of tube degradation were selected to span the range of conditions that might exist in operating steam generators. The principal means of evaluating sampling performance was to determine the effectiveness of the sampling plan for detecting and plugging defective tubes. A summary of key results from the eddy current reliability studies is presented. The analytical and Monte Carlo simulation analyses are discussed along with a synopsis of key results and conclusions

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)

Steam generator tubes integrity: In-service-inspection

International Nuclear Information System (INIS)

Comby, R.J.

1997-01-01

The author's approach to tube integrity is in terms of looking for flaws in tubes. The basis for this approach is that no simple rules can be fixed to adopt a universal inspection methodology because of various concepts related to experience, leak acceptance, leak before break approach, etc. Flaw specific management is probably the most reliable approach as a compromise between safety, availability and economic issues. In that case, NDE capabilities have to be in accordance with information required by structural integrity demonstration. The author discusses the types of probes which can be used to search for flaws in addition to the types of flaws which are being sought, with examples of specific analysis experiences. The author also discusses the issue of a reporting level as it relates to avoiding false calls, classifying faults, and allowing for automation in analysis

Apparatus for assembling and welding end plugs to nuclear fuel cladding tubes and inspecting the end plug welds on an automated basis

International Nuclear Information System (INIS)

Schoenig, F.C. Jr.; Walker, E.S.; Cueman, M.K.; Haughton, R.A.; Zuloaga, J.A. Jr.

1989-01-01

This patent describes an automated apparatus for welding a separate end plug to one open end of each of a succession of nuclear fuel cladding tubes and for inspecting each end plug weld. The apparatus comprising, in combination: a welding station; a cooldown station for cooling each end plug weld in an inert gas atmosphere; a serial number reader station for reading a serial number on each end plug; a first weld inspection station; a second weld inspection station for generating second weld inspection data; a computer system linked with the serial number reader and the first and second weld inspection stations; an input queue for holding a plurality of tubes; a tube transporter for periodically picking individual tubes from the input queque and conveying the tubes in a direction transverse to their tube axis in indexing steps to index positions respectively axially aligned with the welding, serial number reader, and first and second weld inspection stations; and a sorter positioned at an output end of the tube transporter

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)

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

Energy Technology Data Exchange (ETDEWEB)

Carnegie Mellon University

2008-09-30

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

Apparatus for inspecting and repairing a pressurized-water reactor's steam generator heat exchanger tubes

International Nuclear Information System (INIS)

Mueller, O.; Roettger, H.; Kasti, H.; Hagen, H.G.

1976-01-01

Described is an apparatus provided for use with a pressurized-water reactor' steam generator having a manifold chamber enclosing the bottom side of a horizontal tube sheet having holes therethrough in which are mounted the tubes of a heat exchanger tube bundle. The manifold chamber has a manhole giving access to the tube's bottom side to permit internal inspection or repair of the tubes by registration of an end of a flexible guide conduit with the tube sheet holes and through which a flexible carrier can be guided for insertion via these holes in the tube sheet and through the tubes extending from the tube sheet's other side

GRUVAL for ET inspection of the steam generator tubes

International Nuclear Information System (INIS)

Garcia Bueno, A.; Francia, L.; Jimenez Garcia, J. J.; Garcia, R.; Castelinou, M.; Torrens, J.

2013-01-01

The steam generators of the nuclear power plants, PWR type are one of the most important components from the point of view of safety and plant availability. Thousands of tubes that form, approximately 1 mm of thickness, required to be inspected in accordance with codes and standards, to ensure the integrity of the component during the operation of the plant.

A pulsed eddy current probe for inspection of support plates from within Alloy-800 steam generator tubes

International Nuclear Information System (INIS)

Krause, T. W.; Babbar, V. K.; Underhill, P. R.

2014-01-01

Support plate degradation and fouling in nuclear steam generators (SGs) can lead to SG tube corrosion and loss of efficiency. Inspection and monitoring of these conditions can be integrated with preventive maintenance programs, thereby advancing station-life management processes. A prototype pulsed eddy current (PEC) probe, targeting inspection issues associated with SG tubes in SS410 tube support plate structures, has been developed using commercial finite element (FE) software. FE modeling was used to identify appropriate driver and pickup coil configurations for optimum sensitivity to changes in gap and offset for Alloy-800 SG tubes passing through 25 mm thick SS410 support plates. Experimental measurements using a probe that was manufactured based on the modeled configuration, were used to confirm the sensitivity of differential PEC signals to changes in relative position of the tube within the tube support plate holes. Models investigated the effect of shift and tilt of tube with respect to hole centers. Near hole centers and for small shifts, modeled signal amplitudes from the differentially connected coil pairs were observed to change linearly with tube shift. This was in agreement with experimentally measured TEC coil response. The work paves the way for development of a system targeting the inspection and evaluation of support plate structures in steam generators

A pulsed eddy current probe for inspection of support plates from within Alloy-800 steam generator tubes

Science.gov (United States)

Krause, T. W.; Babbar, V. K.; Underhill, P. R.

2014-02-01

Support plate degradation and fouling in nuclear steam generators (SGs) can lead to SG tube corrosion and loss of efficiency. Inspection and monitoring of these conditions can be integrated with preventive maintenance programs, thereby advancing station-life management processes. A prototype pulsed eddy current (PEC) probe, targeting inspection issues associated with SG tubes in SS410 tube support plate structures, has been developed using commercial finite element (FE) software. FE modeling was used to identify appropriate driver and pickup coil configurations for optimum sensitivity to changes in gap and offset for Alloy-800 SG tubes passing through 25 mm thick SS410 support plates. Experimental measurements using a probe that was manufactured based on the modeled configuration, were used to confirm the sensitivity of differential PEC signals to changes in relative position of the tube within the tube support plate holes. Models investigated the effect of shift and tilt of tube with respect to hole centers. Near hole centers and for small shifts, modeled signal amplitudes from the differentially connected coil pairs were observed to change linearly with tube shift. This was in agreement with experimentally measured TEC coil response. The work paves the way for development of a system targeting the inspection and evaluation of support plate structures in steam generators.

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.

Apparatus for the in situ inspection of tubes while submerged in a liquid

International Nuclear Information System (INIS)

Abell, G.E.; Plavsity, L.; Sattler, F.J.

1979-01-01

Apparatus is described for the in situ inspection of tubes which are submerged in a liquid such as the primary coolant of a nuclear reactor. A sensor is withdrawn from a tube by a cable. Means are provided for removing the liquid from and drying the cable. The liquid is returned to the tubes preventing the spread of deleterious liquids to otherwise benign environments and fouling of the drive mechanism used to control cable movements

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.

The Remotely Controlled Robot System for Nuclear Power Plants

International Nuclear Information System (INIS)

Koh, Kwangill; Lee, Gwangnam; Lim, Kyeyoung

1993-01-01

The problem of radioactivity has been our major concern. So, it makes the needs of remotely controlled robot system necessary for maintenance and repair services. Up to now, several foreign companies have been contracted for the maintenance of the steam generators of nuclear power plants in Korea, to acquire its own capability of maintaining the steam generators of it impossible for Korea to acquire its own capability of maintaining the steam generators. In case of emergency, it is difficult to take appropriate steps on its own. In order to resolve the above problems, it seems inevitable to develop the robot system for the inspection and repair of steam generator. This project intends to acquire domestic capabilities of maintaining steam generators, so that this advanced skills could be applied to the related areas. As a result, it will save immense money in the future. the purposes of development of the remotely controlled robot system are : to perform the desired tasks at the polluted area without requiring entry of personnel. to closely inspect the steam generator U-tubes at high speed. to inspect the steam generator intelligently and efficiently under the extreme circumstances where radioactivity problem is very severe. to use for the repair of steam generator tube. Considering from the social and technical standpoint, we can say that the development of the remotely controlled robot system for nuclear power plants resulted in great achievements. From the social standpoint, it should be recognized that domestic robot for nuclear power plant was successfully developed and operator was protected against radioactivity. Also, we advanced our skills in the area of mechanical and control system design for an articulated robot. Using the robot controller in hierarchical structure, it was possible to control the robot remotely. In addition, resolver feedback typed A C servo drive was proven to be sturdy in hazardous environment. Now we are confident that our robot will

Ultrasonic inspection of steam generator tubing for cracks, wall thinning and cross-sectional deformation

International Nuclear Information System (INIS)

Meyer, P.A.; Carodiskey, T.J.

1988-01-01

Periodic inspection of steam generator tubing is an important consideration in the efficient operation of a power generating facility. Since the operating life of these generators is finite, failures will occur. Due to the chemistry of the environment, thermal cycling, and other factors, flaws may develop that can cause rapid deterioration of the tubing while the overall performance of the unit may appear normal. In earlier presentation, the authors presented an ultrasonic bore-side array transducer which can be used with a conventional flaw detector instrument for the location of circumferential crack type defects on the outside tube surface. since that time, much additional experience has been gained on the performance of these probes. Probe performance has been characterized using fatigue crack samples and these results are reviewed. Probes have also been developed having 16 elements for use in larger diameter (25 mm) tubes. The bore-side array concept has been expanded to normal incidence tube well inspection allowing simultaneous wall thickness and eccentricity measurement which is very useful in the assessment of tube wastage and deformation. Preliminary data obtained in this area is presented

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

Probabilistic methodology for assessing steam generator tube inspection - Phase II: User's manual for CANTIA Version 1.1

International Nuclear Information System (INIS)

Harris, J.E.; Gorman, J.A.; Turner, A.P.L.

1997-03-01

The objectives of this project were to develop a computer-based method for probabilistic assessment of inspection strategies for steam generator tubes, and to document the source code and to provide a user's manual for it. The program CANTIA was created to fulfill this objective, and the user's manual is provided in this volume. The documentation and verification of the CANTIA code is provided as a separate report. CANTIA uses Monte Carlo techniques to determine approximate probabilities of steam generator tube failures under accident conditions and primary-to-secondary leak rates under normal and accident conditions at future points in time. The program also determines approximate future flaw distributions and non-destructive examination results from the input data. The probabilities of failure and leak rates and the future flaw distributions can be influenced by performing inspections of the steam generator tubes at some future points in time, and removing defective tubes from the population. The effect of different inspection and maintenance strategies can therefore be determined as a direct effect on the probability of tube failure and primary-to-secondary leak rate

Visual inspection technology of the narrow and small confined area for monitoring feederpipe support of pressure tube in calandria reactor

Energy Technology Data Exchange (ETDEWEB)

Cho, Jae Wan; Lee, Nam Ho; Choi, Young Soo [Korea Atomic Energy Research Institute, Taejon (Korea)

1999-12-01

There are 760 feederpipes, which they are connected to inlet/outlet of the 380 pressure tube channels on the front of the calandria, in CANDU-type Reactor of Wolsung Nuclear Power Plant. As an ISI(In-Service Inspection) and PSI (Post-Service Inspection) requirements, maintenance activities of measuring the thickness of curvilinear part of feederpipe and inspecting the feederpipe support area within calandria are needed to ensure continued reliable operation of nuclear power plant. And ultrasonic probe is used to measure the thickness of curvilinear part of feederpipe, however workers are exposed to radioactivity irradiation during the measurement period. But, it is exposed to radioactivity irradiation during the measurement period. But, it is impossible to inspect feederpipe support area thoroughly because of narrow and confined accessibility, that is , an inspection space between the pressure tube channels is less than 100 mm and pipes in feederpipe support area are congested. And also, workers involved in inspecting feederpipe support area are under the jeopardy of high-level radiation exposure. Concerns about sliding home, which make the move of feederpipe connected to pressure tube channel smooth as pressure tube expands and contracts in its axial direction, stuck to feedeerpipe support and some of the structural components have made necessary the development of video inspection probe system with narrow and confined accessibility to observe and inspect feederpipe support area more close. Using video inspection probe system, it is possible to inspect and repair abnormality of feederpipe support connected to pressure tube channels of the calandria more accurate and quantative than naked eye. Therefore, that will do much for ensuring safety of CANDU-type nuclear power plant. 45 figs.,31 tabs. (Author)

Photographic inspection apparatus and process to know the shape and the dimensions of the end parts of steam generator tubes

International Nuclear Information System (INIS)

Martin, A.

1986-01-01

Before any inspection or repair operation of the tubes of a steam generator, one needs to know the shape and the dimension of the hole of the tube in the near the primary face of the tube plate. The photographic inspection apparatus is moved parallel with the tube plate, inside the water box, such as its optical axis keeps parallel to a determined direction during its displacement. One takes successively photographs of the primary face of the tube plate with the photographic apparatus in different positions, to obtain at least two photographs of each tube to be inspected, under different angles. Photographs are developed at a determined scale of the primary face of the tube plate and of the tube ends. The photographs are oriented two by two to obtain a stereophotogrammetric view of the end parts of each tube. Measurements and examinations are done from the stereophotogrammetric view obtained for each tube, outside the steam generator zone. The invention concerns the process and also the photographic apparatus described in the present patent [fr

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

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.

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

Associated-particle sealed-tube neutron probe for nonintrusive inspection

International Nuclear Information System (INIS)

Rhodes, E.; Dickerman, C.E.

1997-01-01

The development and investigation of a small associated-particle sealed-tube neutron generator (APSTNG) show potential for the associated-particle method to move out of the laboratory into field applications. This paper is a review of ANL investigations of this technology. Alpha particles associated with 14-MeV neutrons generated from the D-T reaction travel in the opposite direction and are detected inside the sealed tube. Gamma-ray spectra of resulting neutron reactions in the inspected volume encompassed by the alpha-detector solid angle identify many nuclides. Flight-times determined from detection times of the gamma rays and alpha particles separate the prompt and delayed gamma-rays and can yield a separate coarse tomographic image of each identified nuclide, from a single orientation without collimation. A continuous ion beam allows data acquisition by relatively low-bandwidth electronics. When a compact sealed-tube neutron generator is used, a relatively small and easily maintainable inspection system can be developed, that is rugged enough to be transportable. Proof-of-concept laboratory experiments have been performed for simulated explosives, drugs, special nuclear materials, and chemical warfare agents. Efficient collection of maximum information from each detected neutron with low background rates can allow a much lower source intensity than pulsed accelerator methods and yield a preference for an APSTNG system, when it can provide adequate usable source intensity. Based on lessons learned with the present system, an advanced APSTNG system is being designed and built that will be transportable and yield substantial increases in neutron output and target lifetime. copyright 1997 American Institute of Physics

Associated-particle sealed-tube neutron probe for nonintrusive inspection

International Nuclear Information System (INIS)

Rhodes, E.; Dickerman, C.E.

1996-01-01

The development and investigation of a small associated-particle sealed-tube neutron generator (APSTNG) show potential to allow the associated-particle method to be moved out of the laboratory into field applications. Alpha particles associated with 14 MeV neutrons generated from the D-T reaction travel in the opposite direction and are detected inside the sealed tube. Gamma-ray spectra of resulting neutron reactions in the inspected volume encompassed by the alpha- detector solid angle identify many nuclides. Flight-times determined from detection times of the gamma-rays and alpha-particles not only separate the prompt and delayed gamma-rays but can also yield a separate coarse tomographic image of each identified nuclide, from a single orientation without collimation. A continuous ion beam allows data acquisition by relatively low-bandwidth commercial electronics. This efficient collection of maximum information from each detected neutron by the associated-particle method can allow a much lower source intensity than pulsed accelerator methods, provided a sufficient usable signal rate is obtained. When this method is coupled with a compact sealed-tube neutron generator, a relatively small, inexpensive, reliable, and easily maintainable inspection system can be developed, that is rugged enough to be transportable. Proof-of- concept laboratory experiments have been performed for simulated explosives, drugs, special nuclear materials, and chemical warfare agents. Based on lessons learned with the present APSTNG system, an advanced APSTNG system is being designed and built that will be transportable, yield a substantial neutron output increase, and provide a substantially improved target lifetime

Equipment for inspection and carrying out repairs, if required, for tube bundles of steam raising units

International Nuclear Information System (INIS)

Gugel, G.

1976-01-01

The equipment solves the problem of being able to inspect and possibly to repair U-tubes of a vertical steam raising unit standing on a tube floor, without draining the primary medium and bringing the test equipment and tools into the inside of the boiler first. This is achieved by leaving a considerable part of the equipment permanently in the hemispherical space under the tube floor and operating it from the outside, on the other side of the concrete shielding. An inspection tube is threaded in turn horizontally through a concrete shield, a tube duct in the heat insulation of the steam raising unit, and through a hole in the hemispherical space under the tube floor into this space. The end of an angle tube can be moved axially from outside the concrete shield and can be rotated in a semicircle above the tube axis. By interposing a, for example, 12 part distributor with 12 short, differently bent tubes 12 adjacent tubes opening into the tube floor can be controlled and tested, by axial movement of the angle tube together with the distributor, e.g. 4 x 12 other U tubes. A turbulent flow sensor, for example, can be introduced through the angle tube and distributor. In the non-operational condition the equipment is moved into a recess via a supporting angle and stopped there. (ORU) [de

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

Nuclear safety inspection in treatment process for SG heat exchange tubes deficiency of unit 1, TNPS

International Nuclear Information System (INIS)

Zhang Chunming; Song Chenxiu; Zhao Pengyu; Hou Wei

2006-01-01

This paper describes treatment process for SG heat exchange tubes deficiency of Unit 1, TNPS, nuclear safety inspection of Northern Regional Office during treatment process for deficiency and further inspection after deficiency had been treated. (authors)

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

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)

Eddy current magnetic bias x-probe qualification and inspection of steam generator Monel 400 tubing in Pickering Nuclear Generating Station

International Nuclear Information System (INIS)

Lepine, B.A.; Van Langen, J.; Obrutsky, L.

2006-01-01

This paper presents an overview of the x-probe MB 350 eddy current inspection array probe, for detection of open OD axial crack-like flaws in Monel 400 tubes at Pickering Nuclear Generating Station. This report contains a selection of inspection results from the field inspections performed with this probe during the 2003 and 2004 period at Pickering Nuclear Generating Station A and B. During the 2003 in-service eddy current inspection results of Pickering Nuclear Generating Station A (PNGS-A) Unit 2, a 13 mm (0.5 inch) long axial indication was detected by the CTR1 bobbin and CTR2-C4 array probes in Tube R25-C52 of Steam Generator (SG) 11 in the hot leg sludge pile region. An experimental magnetic bias X-probe, specially designed by Zetec for inspection of Monel 400 tubing, was deployed and the indication was characterized as a potential out diameter (OD) axially oriented crack. Post-inspection tube pulling and destructive examination confirmed the presence of an Environmentally Assisted Crack (EAC), approximately 80% deep and 13mm long. Due to the significance of this discovery, Ontario Power Generation (OPG) requested AECL to initiate a program for qualification of the X-probe MB 350 for the detection of OD axial cracks in medium to high magnetic permeability μ r Monel 400 PNGS-A and B steam generator tubing at different locations. The X-probe MB 350 subsequently has been deployed as a primary inspection probe for crack detection for PNGS steam generators. (author)

Field trial of a fast single-pass transmit-receive probe during Gentilly II steam generator tube inspection

International Nuclear Information System (INIS)

Obrutsky, L.; Cantin, M.; Renaud, J.; Cecco, V.; Lakhan, R.; Sullivan, S.

2000-01-01

A new generation of transmit-receive single-pass probes, denoted as C6 or X probe, was field tested during the Gentilly II, 2000 steam generator tube inspection. This probe has a performance equivalent to rotating probes and can be used for tubesheet and full-length inspection at an inspection speed equivalent to that of bobbin probes. Existing C3 transmit-receive probes have been demonstrated to be effective in detecting circumferential cracks. The C5 probe can detect both circumferential and axial cracks and volumetric defects but cannot discriminate between them. The C6 probe expands on the capabilities of both probes in a single probe head. It can simultaneously detect and discriminate between circumferential and axial cracks to satisfy different plugging criteria. It has excellent coverage, good defect detectability, and improved sizing and characterization. Probe data is displayed in C-scan format so that the amount of data to be analyzed is similar to rotating probes. The C6 probe will significantly decrease inspection time and the need for re-inspection and tube pulling. This paper describes the advantages of the probe and demonstrates its capabilities employing signals from tube samples with calibration flaws and laboratory induced cracks. It shows the results from the field trial of the probe at Gentilly II and describes the instrumentation, hardware and software used for the inspection. (author)

Field trial of a fast single-pass transmit-receive probe during Gentilly II steam generator tube inspection

International Nuclear Information System (INIS)

Obrutsky, L.; Cantin, M.; Renaud, J.; Cecco, V.; Lakhan, R.; Sullivan, S.

2000-01-01

A new generation of transmit-receive single-pass probes, denoted as C6 or X probe, was field-tested during the Gentilly II, 2000 steam generator tube inspection. This probe has a performance equivalent to rotating probes and can be used for tubesheet and full-length inspection at an inspection speed equivalent to that of bobbin probes. Existing C3 transmit-receive probes have been demonstrated to be effective in detecting circumferential cracks. The C5 probe can detect both circumferential and axial cracks and volumetric defects but cannot discriminate between them. The C6 probe expands on the capabilities of both probes in a single probe head. It can simultaneously detect and discriminate between circumferential and axial cracks to satisfy different plugging criteria. It has excellent coverage, good defect detectability, and improved sizing and characterization. Probe data is displayed in C-scan format so that the amount of data to be analyzed is similar to rotating probes. The C6 probe will significantly decrease inspection time and the need for re-inspection and tube pulling. This paper describes the advantages of the probe and demonstrates its capabilities employing signals from tube samples with calibration flaws and laboratory induced cracks. It shows the results from the field trial of the probe at Gentilly II and describes the instrumentation, hardware and software used for the inspection. (author)

Development of a 3D electromagnetic model for eddy current tubing inspection application to steam generator tubing

Energy Technology Data Exchange (ETDEWEB)

Maillot, V. [Institut de Radioprotection et de Surete Nucleaire, IRSN, 92 - Fontenay aux Roses (France); Pichenot, G.; Premel, D.; Sollier, T. [CEA Saclay, DRT/DECS, 91 - Gif-sur-Yvette (France)

2003-10-01

In nuclear plants, the inspection of heat exchanger tubes is usually carried out by using eddy current nondestructive testing. A numerical model, based on a volume integral approach using the Green's dyadic formalism, has been developed, with support from the French Institute for Radiological Protection and Nuclear Safety, to predict the response of an eddy current bobbin coil to 3D flaws located in the tube's wall. With an aim of integrating this model into the NDE multi techniques platform CIVA, it has been validated with experimental data for 2D and 3D flaws. (authors)

Overview of magnetic bias X-probe qualification and inspection of PNGS Monel 400 steam generator tubing

International Nuclear Information System (INIS)

Lepine, B.A.; Van Langen, J.; Obrutsky, L.

2006-01-01

This paper presents an overview of the X-probe MB 350, the qualification for detection of open OD axial crack-like flaws, and a selection of inspection results from the subsequent field inspections performed with this probe during the 2003 and 2004 period at Pickering Nuclear Generating Station A and B. Examples of the field indications to be presented are axial cracking, OD pitting at top of tubesheet location (TTS), and flow assisted corrosion (top hats). During the 2003 in-service eddy current inspection results of Pickering Nuclear Generating Station A (PNGS-A) Unit 2, a 13 mm (0.5 inch) long axial indication was detected by the CTR1 bobbin and CTR2-C4 array probes in Tube R25-C52 of Steam Generator (SG) 11 in the hot leg sludge pile region. An experimental magnetic bias X-probe, especially designed by Zetec for inspection of Monel 400 tubing, was deployed and the indication was characterized as a potential outer diameter (OD) axially oriented crack. Posterior tube pulling and destructive examination confirmed the presence of an Environmentally Assisted Crack (EAC), approximately 80% deep and 13 mm long. Due to the significance of this discovery, Ontario Power Generation (OPG) requested AECL to initiate a program for qualification of the X-Probe MB 350 for the detection of OD axial cracks in medium to high magnetic permeability (μ r ) Monel 400 PNGS-A and B steam generator tubing at different locations. The X-probe MB 350 subsequently has been deployed as a primary inspection probe for crack detection for PNGS steam generators. (author)

Working session 2: Tubing inspection

International Nuclear Information System (INIS)

Guerra, J.; Tapping, R.L.

1997-01-01

This session was attended by delegates from 10 countries, and four papers were presented. A wide range of issues was tabled for discussion. Realizing that there was limited time available for more detailed discussion, three topics were chosen for the more detailed discussion: circumferential cracking, performance demonstration (to focus on POD and sizing), and limits of methods. Two other subsessions were organized: one dealt with some challenges related to the robustness of current inspection methods, especially with respect to leaving cracked tubes in service, and the other with developing a chart of current NDE technology with recommendations for future development. These three areas are summarized in turn, along with conclusions and/or recommendations. During the discussions there were four presentations. There were two (Canada, Japan) on eddy current probe developments, both of which addressed multiarray probes that would detect a range of flaws, one (Spain) on circumferential crack detection, and one (JRC, Petten) on the recent PISC III results

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

Stochastic modeling of inspection uncertainties and applications to pitting flaws in steam generator tubes

International Nuclear Information System (INIS)

Mao, D.; Yuan, X.-X.; Pandey, M.D.

2009-01-01

Steam generators (SG) are a major pressure retaining component of great safety significance in nuclear power plants. Due to various manufacturing, operation and maintenance activities, as well as material interaction with the surrounding chemical environment, the SG tubes have been subject to a number of degradation modes. Among them, the under-deposit pitting corrosion at outside surfaces of the SG tubes just on top of the tubesheet support plates has had a serious impact on the integrity of the SG tubes. This paper presents an advanced probabilistic model of pitting corrosion characterizing the inherent randomness of the pitting process and measurement uncertainties of the in-service inspection (ISI) data obtained from eddy current (EC) inspections. A Bayesian method based on Markov Chain Monte Carlo (MCMC) simulation is developed for estimating the model parameters. The proposed model is able to predict the actual pit number, the actual pit depth as well as the maximum pit depth, which is the main interest of the pitting corrosion model. (author)

Development of the visual inspection system for the top of the tube sheet in steam generators

International Nuclear Information System (INIS)

Kim, Gyung Sub; Choi, Sang Hoon; Kim, Ki Chul

2008-01-01

Steam Generators at Nuclear Power plants have a important function to isolate Radioactivity between the primary side radioactive fluid running through tubes and the secondary side with non-radioactive fluid through out of a tube bundle, in addition to a function of steam generation. Therefore, To obtain integrity of Steam Generator is really important for safety in the nuclear power plant. At the same time, sludge and foreign objects in steam generators are known as major sources causing the damage of SG tubes. But there is no way to prevent those coming to steam generators until now. Therefore, a periodic inspection and removal of those in steam generators is the only way for those Generally, Most of the Nuclear Power Plants have been inspecting visually every outage for the top of the tube sheet in which sludge and foreign objects lead to the buildup to know how these are

Qualification of the Improved rotating probe process for steam generator tubes inspection

International Nuclear Information System (INIS)

Caston, D.

2002-01-01

In 1997, EDF called for bids to Eddy Current (EC) probes manufacturers to supply rotating probes in order to improve the inspection of the Roll Transition Zone of Steam Generator tubes. Several probes met EDF requirements, and after full assessment, EDF chose one between several EC rotating probe prototypes. For the state of its technical study, EDF chose CEGELEC NDTs services among French ISI SG NDT providers, to inspect a limited number of tubes on two French NPP in 2000 with this prototype. Improved Rotating Probe process technical requirements were provided by EDF with the SG contract specifications in June 2000. They dictate technique performances level and acquisition rate of this new process using two techniques at the same time: - STL classic technique applied for detection and sizing of axial cracks; - STT technique, applied for detection and Sizing of circumferential cracks and wear. It has to be used, instead of classic STL process, without increasing inspection duration and SG occupancy. In competition for the qualification, CEGELEC NDT decided to design a new probe with its providers, including the two EC sensors and meeting EDF's requirements. Two another new equipment, designed in CEGELEC NDT laboratories, have been integrated into Improved Rotating Probe Process: - 'STL Lift', new rotating probe push-puller for Roll Transition Zone inspection; - 'ANASTL', on-line STL and STT data quality check, on-line data processing and analysis software. Without talking about performances of the technique and results obtained on site, this paper presents the new equipment, the different phases of the qualification conducted according to RSE-M rules, the first field experiences in August 2001 and the feedback experience of following site inspections. (author)

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)

Wall thickness measurements of tubes by Internal Rotary Inspection System (IRIS)- a comparative study with metallography

International Nuclear Information System (INIS)

Subramanian, C.V.; Joseph, A.; Ramesh, A.S.; Jayakumar, T.; Kalyanasundaram, P.; Baldev Raj

1996-01-01

Internal Rotary Inspection System (IRIS) is a relatively new ultrasonic system of heat exchanger/ steam condenser tubes and pipelines for measurement of wall thinning and pitting due to corrosion. The wall thickness measurements made during a scan around the circumference of the tube are displayed as a stationary rectilinear display of circumferential cross section (Bscan) of the tube. The paper describes the results obtained on tubes of various materials used in process industries having corrosion on inner and outer surfaces of the tube. (author)

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.

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)

Investigation of reliability of EC method for inspection of VVER steam generator tubes

International Nuclear Information System (INIS)

Corak, Z.

2004-01-01

Complete and accurate non-destructive examinations (NDE) data provides the basis for performing mitigating actions and corrective repairs. It is important that detection and characterization of flaws are done properly at an early stage. EPRI Document PWR Steam Generator Examination Guidelines recommends an approach that is intended to provide the following: Ensure accurate assessment of steam generator tube integrity; Extend the reliable, cost effective, operating life of the steam generators, and Maximize the availability of the unit. Steam Generator Eddy Current Data Analysis Performance Demonstration represents the culmination of the intense two-year industry effort in the development of a performance demonstration program for eddy current testing (ECT) of steam generator tubing. It is referred to as the Industry Database (IDB) and provides a capability for individual organizations to implement SG ECT performance demonstration programs in accordance with the requirements specified in Appendices G and H of the ISI Guidelines. The Appendix G of EPRI Document PWR Steam Generator Examination Guidelines specifies personnel training and qualification requirements for NDE personnel who analyze NDE data for PWR steam generator tubing. Its purpose is to insure a continuing uniform knowledge base and skill level for data analysis. The European methodology document is intended to provide a general framework for development of qualifications for the inspection of specific components to ensure they are developed in a consistent way throughout Europe while still allowing qualification to be tailored in detail to meet different nation requirements. In the European methodology document one will not find a detailed description of how the inspection of a specific component should be qualified. A recommended practice is a document produced by ENIQ to support the production of detailed qualification procedures by individual countries. VVER SG tubes are inspected by EC method but a

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)

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)

Development of an ISI robot for the fast breeder reactor MONJU primary heat transfer system piping

International Nuclear Information System (INIS)

Tagawa, Akihiro; Ueda, Masashi; Yamashita, Takuya; Narisawa, Masataka; Haga, Kouichi

2011-01-01

This paper describes the development of a new inspection robot for the In-Service Inspection of the heat transfer system of the Fast Breeder Reactor MONJU. The inspection was carried out using a tire-type ultrasonic sensor for volumetric tests at high temperature (atmosphere, 55degC; piping surface, 80degC) and radiation exposure condition (dose rate, 10 mGy/h; piping surface dose rate, 15 mGy/h). An inspection robot using a new tire type for the ultrasonic testing sensor and a new control method was developed. A signal-to-noise ratio S/N over 2 was obtained during the functional test for a calibration defect with a depth of 50%t (from the tube wall thickness). In the automatic inspection test, an EDM slit with a depth of 9% from the pipe thickness was detectable and with an S/N ratio = 4.0 (12.0 dB). (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

Development of NDT techniques for the inspection of WSGHWR pressure tubes

International Nuclear Information System (INIS)

Gray, B.S.; Highmore, P.J.; Rudlin, J.R.; Cooper, A.G.

1979-01-01

The fuel for the Steam Generating Heavy Water Reactor at Winfrith Heath is contained in vertical Zircaloy pressure tubes and is cooled by boiling light water. This paper describes the development of NDT techniques for the inservice examination of the pressure tubes to provide continuing assurance of the absence of axial crack-like defects. The resultant equipment has to operate in water-filled tubes in the presence of the radiation field due to the irradiated fuel elements in adjacent tubes. Also, a layer of surface oxide on the inside of the tubes has been found to significantly affect the behaviour of a prototype inspection device. To provide adequate sensitivity in these conditions, without the occurrence of unnecessary spurious indications, a combination of techniques has been developed. This involves the use of ultrasonics in both pulse-echo and 'pitch and catch' mode together with a single frequency eddy current technique. Laboratory work using artificial defects is described and also how the development programme was modified to accommodate the results of in-reactor tests using a prototype device. Reference is also made to the development of CCTV equipment to provide a supplementary visual examination. (author)

Secondary side corrosion in steam generator tubes: lessons learned in France from the in-service inspection results

International Nuclear Information System (INIS)

Comby, R.

1997-01-01

Non-destructive testing (NDT) has proved to be very important in the maintenance of steam generator tubing. This is particularly true in the case of secondary side corrosion, because this type of degradation leads to various morphologies which are often complex (intergranular attack) (IGA), intergranular stress corrosion cracking (IGSCC), or a mixture of both. Their detection and characterization by the usual NDT techniques have been achieved through numerous laboratory studies, which were conducted in order to determine the performance and limitations of NDT. Pulled tube examination in a hot laboratory was very valuable, for both NDT and fracture mechanics aspects. The eddy current bobbin coil probe, used for multipurpose inspection of tubes, allows the detection of IGA-SCC at the tube support plate elevation. In France, the use of rotating probes is not required for that type of degradation, since the repair criterion is based on bobbin coil results only. The bobbin coil is also used for detection of IGSCC occurring in free spans, within sludge deposits. The eddy current rotating probe allows, in that case, characterization of main cracks. Concerning the outer diameter initiated circumferential cracks which occur at the top of the tube sheet, only the rotating probe is used. An ultrasonic (UT) inspection was performed several times, in order to obtain information on UT capabilities. The goal of tube inspection is obviously knowledge of the status of steam generators, but also to follow up degradations and to estimate their revolution, and to verify the beneficial effect of some corrective measures, e.g. boric acid injection. (orig.)

Development of intelligent Eddy Current Testing (ECT) system for PWR steam generator tube inspection

International Nuclear Information System (INIS)

Kawata, K.; Kawase, N.; Kurokawa, M.; Asada, Y.

2005-01-01

The intelligent ECT system was developed for the inspection of heat transfer tubes of the steam generator of the PWR plant. It consists of intelligent probe, data acquisition unit and data analysis system. The probe combines 24 channels inclined lay out drive coils and thin film pick-up coils with built-in electric circuits to provide high inspection capability equivalent to rotating coil ECT and high-speed inspection equivalent to conventional bobbin coil ECT. The advanced data analysis system that has filtering and automatic analysis functions is also developed to enable fast and precise analysis of large volume inspection data. The system was qualified by confirmation tests in FY 2003 to show thinned thickness sizing accuracy within ± 5%. (T. Tanaka)

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)

Application of non-destructive liner thickness measurement technique for manufacturing and inspection process of zirconium lined cladding tube

International Nuclear Information System (INIS)

Nakazawa, Norio; Fukuda, Akihiro; Fujii, Noritsugu; Inoue, Koichi

1986-01-01

Recently, in order to meet the difference of electric power demand owing to electric power situation, large scale load following operation has become necessary. Therefore, the development of the cladding tubes which withstand power variation has been carried out, as the result, zirconium-lined zircaloy 2 cladding tubes have been developed. In order to reduce the sensitivity to stress corrosion cracking, these zirconium-lined cladding tubes require uniform liner thickness over the whole surface and whole length. Kobe Steel Ltd. developed the nondestructive liner thickness measuring technique based on ultrasonic flaw detection technique and eddy current flaw detection technique. These equipments were applied to the manufacturing and inspection processes of the zirconium-lined cladding tubes, and have demonstrated superiority in the control and assurance of the liner thickness of products. Zirconium-lined cladding tubes, the development of the measuring technique for guaranteeing the uniform liner thickness and the liner thickness control in the manufacturing and inspection processes are described. (Kako, I.)

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)

Ultrasonic wall thickness gauging for ferritic steam generator tubing as an in-service inspection tool

International Nuclear Information System (INIS)

Haesen, W.M.J.; Tromp, Th.J.

1980-01-01

In-service inspection of LWR steam generators is more or less a standard routine operation. The situation can be very different for LMFBRs. For the SNR 300 (Kalkar Power Station) the situation is different because the steam generators have ferritic tubing. The tube walls are comparatively thick, 2 to 4.5 mm. During inservice examinations the steam generators will be drained on both sides, however on the sodium side a sodium film will be present. Furthermore the SNR 300 will have two types of steam generator. A straight tube design and a helical coil design will be used. Both types consist of a evaporator and superheater. The steam generators are of course not radioactive. It is obvious that in this case the eddy current (EC) technique is not an enviable inservice inspection tool. Basically EC is a surface flaw detection technique. Only the saturation magnetisation method will improve the EC technique sufficiently for ferritic material. However the 'in bore examination' with the saturation technique was, in case of the SNR 300 steam generator tubing, considered impossible since the inner diameters are fairly small. Furthermore sodium traces may influence the EC method. Although multifrequency methods can solve this problem, EC is not considered as a useful tool for examining ferritic tubing. Another method is to employ the 'stray flux' method which is under development with the TNO organization in Holland. The EC and stray flux method do have one drawback, these methods do not detect gradual changes in wall thickness. Ultrasonic examinations will be used in the SNR 300 as the main inspection tool for the steam generators. In this paper the reasons why ultrasonic examination was selected are explained. The results of the development work on this subject are discussed

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

An automated eddy current in-service inspection system for nuclear steam generator tubing

International Nuclear Information System (INIS)

Wells, N.S.

1981-06-01

A prototype steam generator in-service inspection system incorporating remotely-controlled instrumentation linked by a digital transmission line to an instrument and control trailer outside the reactor containment has been designed and manufactured and is presently undergoing field tests. The (Monel 400) steam generator tubes are scanned two at a time using absolute eddy current probes controlled by two remotely-operated probe drives at a scanning speed of 0.5 m/s. The probes are positioned on the tubesheet by a light-weight (1.5 kg) microprocessor-operated tubesheet walker mechanism. Digitized control and data signals are transmitted up to 300 m to the control trailer. There the control and analysis computers extract the relevant signal information and present it in condensed form as labelled graphics on CRT consoles for on-line visual assessment. Hard copy output is also provided for each tube scanned (one per minute). Condensed data is archived on magnetic tapes for additional off-line analysis and comparisons with other inspections

Development of In-Service Inspection system for heat transfer tubes in the primary pressurized water cooler in the HTTR

Energy Technology Data Exchange (ETDEWEB)

Shinozaki, Masayuki; Furusawa, Takayuki [Japan Atomic Energy Research Inst., Oarai, Ibaraki (Japan). Oarai Research Establishment; Wada, Shigeyuki

1999-08-01

The ISI (In-Service Inspection) system has been developed so as to maintain the structural integrity of heat transfer tubes in the primary pressurized water cooler in the HTTR (High Temperature Engineering Test Reactor). This system consists of eddy current probes, ultra-sonic probes, insertion and extraction units, positioning unit and so on. Verification and performance tests of the developed ISI system were carried out using mock-up heat transfer tubes in the primary pressurized water cooler. The constitution of the system, R and D results of the inspection probes, and verification and performance test results of the ISI system for heat transfer tubes are described in this paper. (author)

Algorithms for Design of Continuum Robots Using the Concentric Tubes Approach: A Neurosurgical Example.

Science.gov (United States)

Anor, Tomer; Madsen, Joseph R; Dupont, Pierre

2011-05-09

We propose a novel systematic approach to optimizing the design of concentric tube robots for neurosurgical procedures. These procedures require that the robot approach specified target sites while navigating and operating within an anatomically constrained work space. The availability of preoperative imaging makes our approach particularly suited for neurosurgery, and we illustrate the method with the example of endoscopic choroid plexus ablation. A novel parameterization of the robot characteristics is used in conjunction with a global pattern search optimization method. The formulation returns the design of the least-complex robot capable of reaching single or multiple target points in a confined space with constrained optimization metrics. A particular advantage of this approach is that it identifies the need for either fixed-curvature versus variable-curvature sections. We demonstrate the performance of the method in four clinically relevant examples.

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

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.

Application of automatic inspection system to nondestructive test of heat transfer tubes of primary pressurized water cooler in the high temperature engineering test reactor. Joint research

International Nuclear Information System (INIS)

Takeda, Takeshi; Furusawa, Takayuki

2001-07-01

Heat transfer tubes of a primary pressurized water cooled (PPWC) in the high temperature engineering test reactor (HTTR) form the reactor pressure boundary of the primary coolant, therefore are important from the viewpoint of safety. To establish inspection techniques for the heat transfer tubes of the PPWC, an automatic inspection system was developed. The system employs a bobbin coil probe, a rotating probe for eddy current testing (ECT) and a rotating probe for ultrasonic testing (UT). Nondestructive test of a half of the heat transfer tubes of the PPWC was carried out by the automatic inspection system during reactor shutdown period of the HTTR (about 55% in the maximum reactor power in this paper). The nondestructive test results showed that the maximum signal-to-noise ratio was 1.8 in ECT. Pattern and phase of Lissajous wave, which were obtained for the heat transfer tube of the PPWC, were different from those obtained for the artificially defected tube. In UT echo amplitude of the PPWC tubes inspected was lower than 20% of distance-amplitude calibration curve. Thus, it was confirmed that there was no defect in depth, which was more than the detecting standard of the probes, on the outer surface of the heat transfer tubes of the PPWC inspected. (author)

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

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.

Evaluation of machine learning tools for inspection of steam generator tube structures using pulsed eddy current

Science.gov (United States)

Buck, J. A.; Underhill, P. R.; Morelli, J.; Krause, T. W.

2017-02-01

Degradation of nuclear steam generator (SG) tubes and support structures can result in a loss of reactor efficiency. Regular in-service inspection, by conventional eddy current testing (ECT), permits detection of cracks, measurement of wall loss, and identification of other SG tube degradation modes. However, ECT is challenged by overlapping degradation modes such as might occur for SG tube fretting accompanied by tube off-set within a corroding ferromagnetic support structure. Pulsed eddy current (PEC) is an emerging technology examined here for inspection of Alloy-800 SG tubes and associated carbon steel drilled support structures. Support structure hole size was varied to simulate uniform corrosion, while SG tube was off-set relative to hole axis. PEC measurements were performed using a single driver with an 8 pick-up coil configuration in the presence of flat-bottom rectangular frets as an overlapping degradation mode. A modified principal component analysis (MPCA) was performed on the time-voltage data in order to reduce data dimensionality. The MPCA scores were then used to train a support vector machine (SVM) that simultaneously targeted four independent parameters associated with; support structure hole size, tube off-centering in two dimensions and fret depth. The support vector machine was trained, tested, and validated on experimental data. Results were compared with a previously developed artificial neural network (ANN) trained on the same data. Estimates of tube position showed comparable results between the two machine learning tools. However, the ANN produced better estimates of hole inner diameter and fret depth. The better results from ANN analysis was attributed to challenges associated with the SVM when non-constant variance is present in the data.

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

In-situ inspection of grooves in reactor tube sheet using a remotely operated cast impression taking device

International Nuclear Information System (INIS)

Rajendran, S.; Ramakumar, M.S.

1996-01-01

Utmost importance is given to the in-service inspection of critical components of a reactor to ensure its reliable performance during the reactor operation. This paper describes a cast taking device using cold setting resin to take impression of the grooves being made in the tube sheet for sparger tube installation in pressurised heavy water reactor. (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)

Robotic arm

Science.gov (United States)

Kwech, Horst

1989-04-18

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel.

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

Evaluation of sampling schemes for in-service inspection of steam generator tubing

International Nuclear Information System (INIS)

Hanlen, R.C.

1990-03-01

This report is a follow-on of work initially sponsored by the US Nuclear Regulatory Commission (Bowen et al. 1989). The work presented here is funded by EPRI and is jointly sponsored by the Electric Power Research Institute (EPRI) and the US Nuclear Regulatory Commission (NRC). The goal of this research was to evaluate fourteen sampling schemes or plans. The main criterion used for evaluating plan performance was the effectiveness for sampling, detecting and plugging defective tubes. The performance criterion was evaluated across several choices of distributions of degraded/defective tubes, probability of detection (POD) curves and eddy-current sizing models. Conclusions from this study are dependent upon the tube defect distributions, sample size, and expansion rules considered. As degraded/defective tubes form ''clusters'' (i.e., maps 6A, 8A and 13A), the smaller sample sizes provide a capability of detecting and sizing defective tubes that approaches 100% inspection. When there is little or no clustering (i.e., maps 1A, 20 and 21), sample efficiency is approximately equal to the initial sample size taken. Thee is an indication (though not statistically significant) that the systematic sampling plans are better than the random sampling plans for equivalent initial sample size. There was no indication of an effect due to modifying the threshold value for the second stage expansion. The lack of an indication is likely due to the specific tube flaw sizes considered for the six tube maps. 1 ref., 11 figs., 19 tabs

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.

Clean-room robot implementation

International Nuclear Information System (INIS)

Comeau, J.L.

1982-01-01

A robot has been incorporated in a clean room operation in which vacuum tube parts are cleaned just prior to final assembly with a 60 lb/in 2 blast of argon gas. The robot is programmed to pick up the parts, manipulate/rotate them as necessary in the jet pattern and deposit them in a tray precleaned by the robot. A carefully studied implementation plan was followed in the procurement, installation, modification and programming of the robot facility. An unusual configuration of one tube part required a unique gripper design. A study indicated that the tube parts processed by the robot are 12% cleaner than those manually cleaned by an experienced operator

Fabrication and inspection of stainless-steel-clad tubes for fast reactors

International Nuclear Information System (INIS)

Spriet, M.

1975-01-01

The production of cladding tubes requires a selection of the raw material, particular core taken during the cold and hot processes, special surface preparations, heat treatments, and intermediate control during the principal steps of fabrication. The inspection is made in two stages: acceptance tests at Vallourec (Eddy current and ultrasonic tests, metrology of internal and external diameter and thickness, metallography, analyses, tensile tests) and ultrasonic tests, metrology of external diameter and thickness, metallography, analyses, mechanical tests at high temperature) [fr

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

Robotic arm

International Nuclear Information System (INIS)

Kwech, H.

1989-01-01

A robotic arm positionable within a nuclear vessel by access through a small diameter opening and having a mounting tube supported within the vessel and mounting a plurality of arm sections for movement lengthwise of the mounting tube as well as for movement out of a window provided in the wall of the mounting tube is disclosed. An end effector, such as a grinding head or welding element, at an operating end of the robotic arm, can be located and operated within the nuclear vessel through movement derived from six different axes of motion provided by mounting and drive connections between arm sections of the robotic arm. The movements are achieved by operation of remotely-controllable servo motors, all of which are mounted at a control end of the robotic arm to be outside the nuclear vessel. 23 figs

Intercomparison of techniques for inspection and diagnostics of heavy water reactor pressure tubes. Additional information

International Nuclear Information System (INIS)

2009-03-01

The reports from Argentina, Canada, India, Korea and Romania are presented concerning the projects carried out under the Coordinated Research Program (CRP) I3.30.10 of the International Agency for Atomic Energy - Vienna related to 'Intercomparison of Techniques for Pressure Tube Inspection and Diagnostics'

Intercomparison of techniques for inspection and diagnostics of heavy water reactor pressure tubes. Determination of hydrogen concentration and blister characterization

International Nuclear Information System (INIS)

2009-03-01

Heavy water reactors (HWRs) comprise significant numbers of today's operating nuclear power plants, and more are under construction. Efficient and accurate inspection and diagnostic techniques for various reactor components and systems, especially pressure tubes, are an important factor in ensuring reliable and safe plant operation. To foster international collaboration in the efficient and safe use of nuclear power, the IAEA conducted a Coordinated Research Project (CRP) on Intercomparison of Techniques for HWR Pressure Tube Inspection and Diagnostics. This CRP was carried out within the framework of the IAEA's Technical Working Group on Advanced Technologies for HWRs (the TWG-HWR). The TWG-HWR is a group of experts nominated by their governments and designated by the IAEA to provide advice and to support implementation of IAEA's project on advanced technologies for HWRs. The objective of the CRP was to compare non-destructive inspection and diagnostic techniques, in use and being developed, for structural integrity assessment of HWR pressure tubes. During the first phase of this CRP participants investigated the capability of different techniques to detect and characterize flaws. During the second phase participants collaborated to detect and characterize hydride blisters and to determine the hydrogen concentration in zirconium alloys. The intention was to identify the most effective pressure tube inspection and diagnostic methods and to identify further development needs. The organizations which participated in phase 2 of this CRP are: - Comision Nacional de Energia Atomica (CNEA), Argentina; - Atomic Energy of Canada Ltd. (AECL), Chalk River Laboratories (CRL), Canada; - Bhabha Atomic Research Centre (BARC), India; - Korea Atomic Energy Research Institute (KAERI), Republic of Korea; - National Institute for Research and Development for Technical Physics (NIRDTP), Romania; - Nuclear Non-Destructive Testing Research and Services (NNDT), Romania. IAEA-TECDOC-1499

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

Regression analysis of pulsed eddy current signals for inspection of steam generator tube support structures

International Nuclear Information System (INIS)

Buck, J.; Underhill, P.R.; Mokros, S.G.; Morelli, J.; Krause, T.W.; Babbar, V.K.; Lepine, B.

2015-01-01

Nuclear steam generator (SG) support structure degradation and fouling can result in damage to SG tubes and loss of SG efficiency. Conventional eddy current technology is extensively used to detect cracks, frets at supports and other flaws, but has limited capabilities in the presence of multiple degradation modes or fouling. Pulsed eddy current (PEC) combined with principal components analysis (PCA) and multiple linear regression models was examined for the inspection of support structure degradation and SG tube off-centering with the goal of extending results to include additional degradation modes. (author)

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.

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

Evaluation of the eddy-current method of inspecting steam generator tubing

International Nuclear Information System (INIS)

Flora, J.H.; Brown, S.D.; Weeks, J.R.

1976-01-01

The objective of this project has been to evaluate the eddy-current method of inspecting steam generator tubing by conducting a series of laboratory experiments with conventional eddy-current equipment. The experiments have involved obtaining eddy-current measurements on samples of 7/8-inch OD Inconel-600 tubing provided by the Westinghouse Nuclear Energy Systems Division. A variety of machined defects and some chemically induced flaws, such as stress corrosion cracks were fabricated in the tubing. Statistical evaluation of the data was employed to estimate the error encountered in measuring corrosion defects of various depths. It appears that the eddy-current technique can provide a reasonable measure of defect depth under certain conditions. On the other hand, the evaluation indicates that it is difficult to determine the depth of certain types of flaws with reliability and precision. Furthermore, although some defects as shallow as 10 percent of the tube wall could be detected, it was not possible to detect other types of flaws that were less than 40 percent deep even when the tube supports were not near the defects. The difficulty in detecting small volume flaws is attributed to low signal-to-noise ratio. Noise is a result of unwanted signals from test variables, such as wobble and variations in tube properties. The error in measurement of certain types of larger defects is associatedin part with test variables and also with the effects that the geometry of the defect has on the eddy-current signal patterns. The distortions in signal patterns caused by gradual wastage type defects and the poor reproducibility of signal patterns obtained from notches that represent stress corrosion cracks are described. Some developments that will rectify these detection and depth measurement problems are discussed

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.)

Capability evaluation of Eddy current and ultrasonic in-service inspections of steam generator tubes. A status report of PISC III Action 5

International Nuclear Information System (INIS)

Bieth, M.; Birac, C.; Comby, R.

1998-01-01

Document summarizes the PISC III (Programme for the Inspection of Steel Components) report No. 41, full description of the PISC III Action 5 on Steam Generator Tubes Inspection, containing all details and final conclusions which are still to be approved by the PISC III Management Board. The report was prepared by the reference laboratory of PISC under guidance and with continuous contribution of the members of the Data Analysis Group (DAG) of this PISC III. There were several procedures which demonstrated good detection capability of major flaws in typical locations of the steam generator. Conclusions of the exercise indicate that capability demonstration is necessary to qualify in service inspection procedures for steam generator tubes

System and method for online inspection of turbines using an optical tube with broadspectrum mirrors

Science.gov (United States)

Baleine, Erwan

2015-12-22

An optical inspection system for nondestructive internal visual inspection and non-contact infra-red (IR) temperature monitoring of an online, operating power generation turbine. The optical inspection system includes an optical tube having a viewing port, at least one reflective mirror or a mirror array having a reflectivity spectral range from 550 nm to 20 .mu.m, and capable of continuous operation at temperatures greater than 932 degrees Fahrenheit (500 degrees Celsius), and a transparent window with high transmission within the same spectral range mounted distal the viewing port. The same optical mirror array may be used to measure selectively surface temperature of metal turbine blades in the near IR range (approximately 1 .mu.m wavelength) and of thermal barrier coated turbine blades in the long IR range (approximately 10 .mu.m wavelength).

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.

Gentilly 2 steam generators Spring 2000 outage: tubesheet waterlance cleaning and inspection; upper bundle inspection

International Nuclear Information System (INIS)

Akeroyd, J.K.; Plante, S.

2000-01-01

A review of the secondary side maintenance activities recently completed during the Gentilly 2 Annual Spring 2000 Maintenance Outage. Activities included: 1) Tubesheet intertube waterlance cleaning and visual inspection, 2) First tube support plate, in-bundle visual inspection of the hot leg, and 3) Upper bundle tube support plate visual inspection. A description of the waterlancing and inspection equipment and setup in the RB at Gentilly 2 is provided. Several innovative techniques were successfully employed and yielded savings in critical path duration, labour and personnel radiation dose. These included accessing the SG tubesheet region through one handhole only and sludge removal utilizing the SG blowdown system. Plant personnel judged tubesheet sludge removal successful. Before and after results of the cleaning process along with samples of the visual inspection results are provided. Inspection of the first support plate, which was a repeat of an inspection done in 1997, was conducted along with an in-bundle inspection of the upper tube supports. Results are presented along with a discussion of the implications for future steam generator maintenance. (author)

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.)

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.

Preliminary Study of Magnetic Flux Leakage on Tube Inspection

International Nuclear Information System (INIS)

Noorhazleena Azaman; Ilham Mukriz Zainal Abidin; Nurul Ain Ahmad Latif

2015-01-01

Magnetic Flux Leakage (MFL) is an advanced NDT technique which has the inspection capability in wall loss detection and measurement of sharp defects such as pitting, grooving and circumferential cracks in ferromagnetic samples. The working principle of MFL involves the induction of magnetic field in the part to be tested and the response or signal produced is analysed to determine the presence and characteristics of defects. In this paper, simulation and experimental work on wall loss detection in steel tube using MFL were carried out. The simulation was performed using Comsol software and followed by experimental work using MFL system for validation. The results from the simulation and experiment indicates that variation of the groove defect affect the magnetisation and the output of the MFL signal is related to change of flux caused by the detection of wall loss. (author)

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)

Development of the Inspection and Diagnosis Technology for the NSSS Components Integrity

Energy Technology Data Exchange (ETDEWEB)

Kim, Jae Hee; Eom, Heung Soup; Lee, Jae Cheol and others

2005-02-15

This project aims at the development of new technologies for a monitoring, inspection, diagnosis and evaluation of the safety related components in nuclear power plants. These technologies are required to detect the defects in the components of nuclear power plants and to prepare thoroughly against accidents. We performed the 1st stage of the study on the four issues recently focused. Thus we developed an analysis model of dynamic characteristics on the reactor internals, an on-line monitoring technology using an ultrasonic guided wave, a network based remote inspection system and an inspection robot for a control rod guide tube support pin. We also performed a lifetime estimation and degradation analysis of the NPP cables through accelerated degradation tests. The technologies developed in this project are applied to the components of nuclear power plants. The applications include a localization of the NSSS integrity monitoring system, replacement of an in-service inspection by on-line monitoring, remote inspection of the major components of the plants, lifetime estimation of the degraded plant cables, and so on. Elemental technologies obtained through the project can have great ripple effects in general industry, and can be applied to the inspection and diagnosis of the components in the other industries.

Development of the Inspection and Diagnosis Technology for the NSSS Components Integrity

International Nuclear Information System (INIS)

Kim, Jae Hee; Eom, Heung Soup; Lee, Jae Cheol and others

2005-02-01

This project aims at the development of new technologies for a monitoring, inspection, diagnosis and evaluation of the safety related components in nuclear power plants. These technologies are required to detect the defects in the components of nuclear power plants and to prepare thoroughly against accidents. We performed the 1st stage of the study on the four issues recently focused. Thus we developed an analysis model of dynamic characteristics on the reactor internals, an on-line monitoring technology using an ultrasonic guided wave, a network based remote inspection system and an inspection robot for a control rod guide tube support pin. We also performed a lifetime estimation and degradation analysis of the NPP cables through accelerated degradation tests. The technologies developed in this project are applied to the components of nuclear power plants. The applications include a localization of the NSSS integrity monitoring system, replacement of an in-service inspection by on-line monitoring, remote inspection of the major components of the plants, lifetime estimation of the degraded plant cables, and so on. Elemental technologies obtained through the project can have great ripple effects in general industry, and can be applied to the inspection and diagnosis of the components in the other industries

Inspection of small multi-layered plastic tubing during extrusion, using low-energy X-ray beams

International Nuclear Information System (INIS)

Armentrout, C.; Basinger, T.; Beyer, J.; Colesa, B.; Olsztyn, P.; Smith, K.; Strandberg, C.; Sullivan, D.; Thomson, J.

1999-01-01

The automotive industry uses nylon tubing with a thin ETFE (ethylene-tetrafluroethylene) inner layer to carry fuel from the tank to the engine. This fluorocarbon inner barrier layer is important to reduce the migration of hydrocarbons into the environment. Pilot Industries has developed a series of real-time inspection stations for dimensional measurements and flaw detection during the extrusion of this tubing. These stations are named LERA TM (low-energy radioscopic analysis), use a low energy X-ray source, a special high-resolution image converter and intensifier (ICI) stage, image capture hardware, a personal computer, and software that was specially designed to meet this task. Each LERA TM station operates up to 20 h a day, 6 days a week and nearly every week of the year. The tubing walls are 1-2 mm thick and the outer layer is nylon and the inner 0.2 mm thick layer is ethylene-tetrafluroethylene

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

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.

In-service inspection of pressurized water reactors

International Nuclear Information System (INIS)

Rapin, M.; Saglio, R.

1983-01-01

French legislation, which is more demanding than in other countries, had led Electricite de France, the State-owned utility, to acquire better performance in-service inspection facilities than those which existed previously. This fact has spurred the industrial development of the new technical facilities which are used worldwide today. This article presents the ''in-service inspection machine'' (MIS) for the inspection of the welds of a PWR vessel, and the inspection device of steam generator tubes; the MIS allow a remote-viewing, ultrasonic and gamma-graphic inspection; Foucault currents are the only one method adapted to the inspection steam generator tubes [fr

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

Ultrasonic decontamination robot

International Nuclear Information System (INIS)

Patenaude, R.S.

1984-01-01

An ultrasonic decontamination robot removes radioactive contamination from the internal surface of the inlet and outlet headers, divider plate, tube sheet, and lower portions of tubes of a nuclear power plant steam generator. A programmable microprocessor controller guides the movement of a robotic arm mounted in the header manway. An ultrasonic transducer having a solvent delivery subsystem through which ultrasonic action is achieved is moved by the arm over the surfaces. A solvent recovery suction tube is positioned within the header to remove solvent therefrom while avoiding interference with the main robotic arm. The solvent composition, temperature, pressure, viscosity, and purity are controlled to optimize the ultrasonic scrubbing action. The ultrasonic transducer is controlled at a power density, frequency, and on-off mode cycle such as to optimize scrubbing action within the range of transducer-to-surface distance and solvent layer thickness selected for the particular conditions encountered. Both solvent and transducer control actions are optimized by the programmable microprocessor. (author)

Study on In-Service Inspection Program and Inspection Technologies for Commercialized Sodium-Cooled Fast Reactor

International Nuclear Information System (INIS)

Masato Ando; Shigenobu Kubo; Yoshio Kamishima; Toru Iitsuka

2006-01-01

The objective of in-service inspection of a nuclear power plant is to confirm integrity of function of components necessary to safety, and satisfy the needs to protect plant investment and to achieve high plant ability. The sodium-cooled fast reactor, which is designed in the feasibility study on commercialized fast reactor cycle systems in Japan, has two characteristics related to in-service inspection. The first is that all sodium coolant boundary structures have double-wall system. Continuous monitoring of the sodium coolant boundary structures are adopted for inspection. The second characteristic is the steam generator with double-wall-tubes. Volumetric testing is adopted to make sure that one of the tubes can maintain the boundary function in case of the other tube failure. A rational in-service inspection concept was developed taking these features into account. The inspection technologies were developed to implement in-service inspection plan. The under-sodium viewing system consisted of multi ultrasonic scanning transducers, which was used for imaging under-sodium structures. The under-sodium viewing system was mounted on the under-sodium vehicle and delivered to core internals. The prototype of under-sodium viewing system and vehicle were fabricated and performance tests were carried out under water. The laboratory experiments of volumetric testing for double-wall-tubes of steam generator, such as ultrasonic testing and remote-field eddy current testing, were performed and technical feasibility was assessed. (authors)

Inspection of Candu Nuclear Reactor Fuel Channels

International Nuclear Information System (INIS)

Baron, J.; Jarvis, G.N.; Dolbey, M.P.; Hayter, D.M.

1986-01-01

The Channel Inspection and Gauging Apparatus of Reactors (CIGAR) is a fully atomated, remotely operated inspection system designed to perform multi-channel, multi-task inspection of CANDU reactor fuel channels. Ultrasonic techniques are used for flaw detection, (with a sensitivity capable of detecting a 0.075 mm deep notch with a signal to noise ratio of 10 dB) and pressure tube wall thickness and diameter measurements. Eddy currrent systems are used to detect the presence of spacers between the coaxial pressure tube and calandria tube, as well as to measure their relative spacing. A servo-accelerometer is used to estimate the sag of the fuel channels. This advanced inspection system was commissioned and declared in service in September 1985. The paper describes the inspection systems themselves and discussed the results achieved to-date. (author) [pt

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...

Risk Based Inspection of Gas-Cooling Heat Exchanger

Directory of Open Access Journals (Sweden)

Dwi Priyanta

2017-09-01

Full Text Available On October 2013, Pertamina Hulu Energi Offshore North West Java (PHE – ONWJ platform personnel found 93 leaking tubes locations in the finfan coolers/ gas-cooling heat exchanger. After analysis had been performed, the crack in the tube strongly indicate that stress corrosion cracking was occurred by chloride. Chloride stress corrosion cracking (CLSCC is the cracking occurred by the combined influence of tensile stress and a corrosive environment. CLSCC is the one of the most common reasons why austenitic stainless steel pipework or tube and vessels deteriorate in the chemical processing, petrochemical industries and maritime industries. In this thesis purpose to determine the appropriate inspection planning for two main items (tubes and header box in the gas-cooling heat exchanger using risk based inspection (RBI method. The result, inspection of the tubes must be performed on July 6, 2024 and for the header box inspection must be performed on July 6, 2025. In the end, RBI method can be applicated to gas-cooling heat exchanger. Because, risk on the tubes can be reduced from 4.537 m2/year to 0.453 m2/year. And inspection planning for header box can be reduced from 4.528 m2/year to 0.563 m2/year.

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.

Tube-in-shell heat exchangers

International Nuclear Information System (INIS)

Richardson, J.

1976-01-01

Tube-in-shell heat exchangers normally comprise a bundle of parallel tubes within a shell container, with a fluid arranged to flow through the tubes in heat exchange with a second fluid flowing through the shell. The tubes are usually end supported by the tube plates that separate the two fluids, and in use the tube attachments to the tube plates and the tube plates can be subject to severe stress by thermal shock and frequent inspection and servicing are required. Where the heat exchangers are immersed in a coolant such as liquid Na such inspection is difficult. In the arrangement described a longitudinally extending central tube is provided incorporating axially spaced cylindrical tube plates to which the opposite ends of the tubes are attached. Within this tube there is a tubular baffle that slidably seals against the wall of the tube between the cylindrical tube plates to define two co-axial flow ducts. These ducts are interconnected at the closed end of the tube by the heat exchange tubes and the baffle comprises inner and outer spaced walls with the interspace containing Ar. The baffle is easily removable and can be withdrawn to enable insertion of equipment for inspecting the wall of the tube and tube attachments and to facilitate plugging of defective tubes. Cylindrical tube plates are believed to be superior for carrying pressure loads and resisting the effects of thermal shock. Some protection against thermal shock can be effected by arranging that the secondary heat exchange fluid is on the tube side, and by providing a thermal baffle to prevent direct impingement of hot primary fluid on to the cylindrical tube plates. The inner wall of the tubular baffle may have flexible expansible region. Some nuclear reactor constructions incorporating such an arrangement are described, including liquid metal reactors. (U.K.)

Modelling of the ultrasonic inspection of steel tubes with longitudinal defects; Modelisation du controle ultrasonore de tubes d`acier presentant des defauts de type ``entaille longitudinale``

Energy Technology Data Exchange (ETDEWEB)

Mephane, M

1998-12-31

A model has been developed in order to simulate the ultrasonic inspection of steel tubes in the Vallourec control configuration. The model permits to simulate the control of steel tubes showing longitudinal defects located near the internal or external surface of tubes which appear during the rolling process. To detect this kind of defect, the probe is placed in an incident place perpendicular to the tube`s axis. The probe is in front of the external surface of the tube. The main characteristics of the model is to assume that the field radiated in the material does not depend on the probe`s position. This assumption permits to treat separately the field retracted in the material and the interaction between the defect and the ultrasonic beam. The focal plane is located in the material, so the plane waves approximation is applied where the waves front are assumed plane and parallel. The parallel refracted beam becomes divergent after reflection on the internal surface of tube. To treat the beam divergence, an amplitude weighting coefficient is then calculated by mean of the energy conservation of a tube of rays before and after reflection, following the Snell laws. This model can predict the edge diffraction echoes, the echoes issued from the corner effect, and also the mode conversion echoes. It has been validated on artificial notches, and on some natural defects. A comparison between experimental and modelling results shows a good agreement. (author) 39 refs.

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.

Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation

Directory of Open Access Journals (Sweden)

Yanjie Wang

2018-01-01

Full Text Available This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC- embedded active tube, which can achieve multidegree-of-freedom (MODF bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation.

Active Tube-Shaped Actuator with Embedded Square Rod-Shaped Ionic Polymer-Metal Composites for Robotic-Assisted Manipulation

Science.gov (United States)

Liu, Jiayu; Zhu, Denglin; Chen, Hualing

2018-01-01

This paper reports a new technique involving the design, fabrication, and characterization of an ionic polymer-metal composite- (IPMC-) embedded active tube, which can achieve multidegree-of-freedom (MODF) bending motions desirable in many applications, such as a manipulator and an active catheter. However, traditional strip-type IPMC actuators are limited in only being able to generate 1-dimensional bending motion. So, in this paper, we try to develop an approach which involves molding or integrating rod-shaped IPMC actuators into a soft silicone rubber structure to create an active tube. We modified the Nafion solution casting method and developed a complete sequence of a fabrication process for rod-shaped IPMCs with square cross sections and four insulated electrodes on the surface. The silicone gel was cured at a suitable temperature to form a flexible tube using molds fabricated by 3D printing technology. By applying differential voltages to the four electrodes of each IPMC rod-shaped actuator, MDOF bending motions of the active tube can be generated. Experimental results show that such IPMC-embedded tube designs can be used for developing robotic-assisted manipulation. PMID:29770160

Optical technologies for measurement and inspection

International Nuclear Information System (INIS)

Mader, D.L.

1997-01-01

Ontario Hydro has benefited from specialized optical measurement techniques such as FRILS (fret replica inspection laser system), which permits in-house inspections of pressure tube replicas and has been estimated to save $2M per year. This paper presents a brief overview of (1) FRILS, (2) OPIT (in-reactor Optical Profilometry Inspection Tool), (3) miniature optical probe for steam generator tubes, (4) laser vibrometer used for end-fitting vibration, and (5) computer vision to recognize the ends of fuel bundles and automatically measure their lengths. (author)

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)

Automating data analysis during the inspection of boiler tubes using line scanning thermography

Science.gov (United States)

Ley, Obdulia; Momeni, Sepand; Ostroff, Jason; Godinez, Valery

2012-05-01

Failures in boiler waterwalls can occur when a relatively small amount of corrosion and loss of metal have been experienced. This study presents our efforts towards the application of Line Scanning Thermography (LST) for the analysis of thinning in boiler waterwall tubing. LST utilizes a line heat source to thermally excite the surface to be inspected and an infrared detector to record the transient surface temperature increase observed due to the presence of voids, thinning or other defects. In waterwall boiler tubes the defects that can be detected using LST correspond to corrosion pitting, hydrogen damage and wall thinning produced by inadequate burner heating or problems with the water chemistry. In this paper we discuss how the LST technique is implemented to determine thickness from the surface temperature data, and we describe our efforts towards developing a semiautomatic analysis tool to speed up the time between scanning, reporting and implementing repairs. We compare the density of data produced by the common techniques used to assess wall thickness and the data produced by LST.

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.)

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)

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)

Detailed simulation of ultrasonic inspections

International Nuclear Information System (INIS)

Chaplin, K.R.; Douglas, S.R.; Dunford, D.

1997-01-01

Simulation of ultrasonic inspection of engineering components have been performed at the Chalk River Laboratories of AECL for over 10 years. The computer model, called EWE for Elastic Wave Equations, solves the Elastic Wave Equations using a novel finite difference scheme. It simulates the propagation of an ultrasonic wave from the transducer to a flaw, the scatter of waves from the flaw, and measurement of signals at a receive transducer. Regions of different materials, water and steel for example, can be simulated. In addition, regions with slightly different material properties from the parent material can be investigated. The two major types of output are displays of the ultrasonic waves inside the component and the corresponding A-scans. EPRI and other organizations have used ultrasonic models for: defining acceptable ultrasonic inspection procedures, designing and evaluating inspection techniques, and for quantifying inspection reliability. The EWE model has been applied to the inspection of large pipes in a nuclear plant, gas pipeline welds and steam generator tubes. Most recent work has dealt with the ultrasonic inspection of pressure tubes in CANDU reactors. Pressure tube inspections can reliably detect and size defects; however, there are improvements that can be made. For example, knowing the sharpness of a flaw-tip is crucial for fitness for service assessments. Computer modelling of the ultrasonic inspection of flaws with different root radius has suggested inspection techniques that provide flaw tip radius information. A preliminary investigation of these methods has been made in the laboratory. The basis for the model will be reviewed at the presentation. Then the results of computer simulations will be displayed on a PC using an interactive program that analyzes simulated A-scans. This software tool gives inspection staff direct access to the results of computer simulations. (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

Steam generator tube integrity program

International Nuclear Information System (INIS)

Dierks, D.R.; Shack, W.J.; Muscara, J.

1996-01-01

A new research program on steam generator tubing degradation is being sponsored by the U.S. Nuclear Regulatory Commission (NRC) at Argonne National Laboratory. This program is intended to support a performance-based steam generator tube integrity rule. Critical areas addressed by the program include evaluation of the processes used for the in-service inspection of steam generator tubes and recommendations for improving the reliability and accuracy of inspections; validation and improvement of correlations for evaluating integrity and leakage of degraded steam generator tubes, and validation and improvement of correlations and models for predicting degradation in steam generator tubes as aging occurs. The studies will focus on mill-annealed Alloy 600 tubing, however, tests will also be performed on replacement materials such as thermally-treated Alloy 600 or 690. An overview of the technical work planned for the program is given

Automatic welding of stainless steel tubing

Science.gov (United States)

Clautice, W. E.

1978-01-01

The use of automatic welding for making girth welds in stainless steel tubing was investigated as well as the reduction in fabrication costs resulting from the elimination of radiographic inspection. Test methodology, materials, and techniques are discussed, and data sheets for individual tests are included. Process variables studied include welding amperes, revolutions per minute, and shielding gas flow. Strip chart recordings, as a definitive method of insuring weld quality, are studied. Test results, determined by both radiographic and visual inspection, are presented and indicate that once optimum welding procedures for specific sizes of tubing are established, and the welding machine operations are certified, then the automatic tube welding process produces good quality welds repeatedly, with a high degree of reliability. Revised specifications for welding tubing using the automatic process and weld visual inspection requirements at the Kennedy Space Center are enumerated.

Guide to robots and remote-controlled tools used in French nuclebar power plants

International Nuclear Information System (INIS)

Ferriole, G.

1987-01-01

Three types of robots are used in French nuclear plants: 1) Tool carriers for steam generator channel heads 2) Autonomous tool carriers and 3) Multifunctional tool carriers. Tool carriers for steam generator channel heads have been designed to perform only maintenance activities inside the channel head of steam generators and especially on the tubes. The shape and size of these carriers are adapted to the channel heads which is their only application. Autonomous carriers are tank-type vehicles with full tractor treads and their capacity ranges from 20 to 150 kg. These vehicles are used mainly for televisual inspection of the instrumentation penetrations underneath the pressure vessel and the upper pressure vessel internal structures (inspection of control rod guide tube split pins). Multifunctional tool carriers are developed to perform exceptional maintenance tasks of a nongeneric type in an environment with very high irradiation fields, that are inaccessible to a human operator. This means that such tasks are not always clearly defined and their execution is liable to change during the process. The different tasks can be delicate to perform and highly complex, e.g.: recovering a dropped fuel element, underwater measuration, dismantling of mechanical equipment, etc

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

Intercomparison of techniques for inspection and diagnostics of heavy water reactor pressure tubes: Flaw detection and characterization [Phase 1

International Nuclear Information System (INIS)

2006-05-01

Nuclear power plants with heavy water reactors (HWRs) comprise nine percent of today's operating nuclear units, and more are under construction. Efficient and accurate inspection and diagnostic techniques for various reactor components and systems are an important factor in assuring reliable and safe plant operation. To foster international collaboration in the efficient and safe use of nuclear power, the IAEA conducted a Coordinated Research Programme (CRP) on Inter-comparison of Techniques for HWR Pressure Tube Inspection and Diagnostics. This CRP was carried out within the frame of the IAEA Department of Nuclear Energy's Technical Working Group on Advanced Technologies for HWRs (the TWG-HWR). The TWG-HWR is a group of experts nominated by their governments and designated by the IAEA to provide advice and to support implementation of the IAEA's project on advanced technologies for HWRs. The objective of the CRP was to inter-compare non-destructive inspection and diagnostic techniques, in use and being developed, for structural integrity assessment of HWR pressure tubes. During the first phase of this CRP, participants have investigated the capability of different techniques to detect and characterize flaws. During the second phase of this CRP, participants collaborated to detect and characterize hydride blisters and to determine the hydrogen concentration in Zirconium alloys. The intent was to identify the most effective pressure tube inspection and diagnostic methods, and to identify further development needs. The organizations that have participated in this CRP are: - The Comision Nacional de Energia Atomica (CNEA), Argentina; - Atomic Energy of Canada Ltd. (AECL); Chalk River Laboratories (CRL), Canada; - The Research Institute of Nuclear Power Operations (RINPO), China National Nuclear Corporation (CNNC), China; - Bhabha Atomic Research Centre (BARC), India; - The Korea Electric Power Research Institute (KEPRI), Republic of Korea; - The Korea Atomic Energy

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.

Improvement of the reliability on nondestructive inspection

International Nuclear Information System (INIS)

Song, Sung Jin; Kim, Young H.; Lee, Hyang Beom; Shin, Young Kil; Jung, Hyun Jo; Park, Ik Keun; Park, Eun Soo

2002-03-01

Retaining reliabilities of nondestructive testing is essential for the life-time maintenance of Nuclear Power Plant. The nondestructive testing methods which are frequently used in the Nuclear Power Plant are eddy current testing for the inspection of steam generator tubes and ultrasonic testing for the inspection of weldments. In order to improve reliabilities of ultrasonic testing and eddy current testing, the subjects carried out in this study are as follows : development of BEM analysis technique for ECT of SG tube, development of neural network technique for the intelligent analysis of ECT flaw signals of SG tubes, development of RFECT technology for the inspection of SG tube, FEM analysis of ultrasonic scattering field, evaluation of statistical reliability of PD-RR test of ultrasonic testing and development of multi-Gaussian beam modeling technique to predict accurate signal of signal beam ultrasonic testing with the efficiency in calculation time

Improvement of the reliability on nondestructive inspection

Energy Technology Data Exchange (ETDEWEB)

Song, Sung Jin; Kim, Young H. [Sungkyunkwan Univ., Suwon (Korea, Republic of); Lee, Hyang Beom [Soongsil Univ., Seoul (Korea, Republic of); Shin, Young Kil [Kunsan National Univ., Gunsan (Korea, Republic of); Jung, Hyun Jo [Wonkwang Univ., Iksan (Korea, Republic of); Park, Ik Keun; Park, Eun Soo [Seoul Nationl Univ., Seoul (Korea, Republic of)

2002-03-15

Retaining reliabilities of nondestructive testing is essential for the life-time maintenance of Nuclear Power Plant. The nondestructive testing methods which are frequently used in the Nuclear Power Plant are eddy current testing for the inspection of steam generator tubes and ultrasonic testing for the inspection of weldments. In order to improve reliabilities of ultrasonic testing and eddy current testing, the subjects carried out in this study are as follows : development of BEM analysis technique for ECT of SG tube, development of neural network technique for the intelligent analysis of ECT flaw signals of SG tubes, development of RFECT technology for the inspection of SG tube, FEM analysis of ultrasonic scattering field, evaluation of statistical reliability of PD-RR test of ultrasonic testing and development of multi-Gaussian beam modeling technique to predict accurate signal of signal beam ultrasonic testing with the efficiency in calculation time.

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.

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...

In service inspection for steam generator tubes

International Nuclear Information System (INIS)

Comby, R.; Eyrolles, Ph.

1988-01-01

In this paper the authors show the means putting in place for examination of steam generators tubes. These means (eddy current probes, ultrasonic testing) associated with a knowledge on degradation phenomena allow mapping controlled tubes and limiting undesirable obturations [fr

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)

Plasma sputtering robotic device for in-situ thick coatings of long, small diameter vacuum tubes

Energy Technology Data Exchange (ETDEWEB)

Hershcovitch, A., E-mail: hershcovitch@bnl.gov; Blaskiewicz, M.; Brennan, J. M.; Fischer, W.; Liaw, C.-J.; Meng, W.; Todd, R. [Brookhaven National Laboratory, Upton, New York 11973 (United States); Custer, A.; Dingus, A.; Erickson, M.; Jamshidi, N.; Laping, R.; Poole, H. J. [PVI, Oxnard, California 93031 (United States)

2015-05-15

A novel robotic plasma magnetron mole with a 50 cm long cathode was designed, fabricated, and operated. The reason for this endeavor is to alleviate the problems of unacceptable resistive heating of stainless steel vacuum tubes in the BNL Relativistic Heavy Ion Collider (RHIC). The magnetron mole was successfully operated to copper coat an assembly containing a full-size, stainless steel, cold bore, RHIC magnet tubing connected to two types of RHIC bellows, to which two additional pipes made of RHIC tubing were connected. To increase the cathode lifetime, a movable magnet package was developed, and the thickest possible cathode was made, with a rather challenging target to substrate (de facto anode) distance of less than 1.5 cm. Achieving reliable steady state magnetron discharges at such a short cathode to anode gap was rather challenging, when compared to commercial coating equipment, where the target to substrate distance is 10's cm; 6.3 cm is the lowest experimental target to substrate distance found in the literature. Additionally, the magnetron developed during this project provides unique omni-directional uniform coating. The magnetron is mounted on a carriage with spring loaded wheels that successfully crossed bellows and adjusted for variations in vacuum tube diameter, while keeping the magnetron centered. Electrical power and cooling water were fed through a cable bundle. The umbilical cabling system is driven by a motorized spool. Excellent coating adhesion was achieved. Measurements indicated that well-scrubbed copper coating reduced secondary electron yield to 1, i.e., the problem of electron clouds can be eliminated. Room temperature RF resistivity measurement indicated that a 10 μm copper coated stainless steel RHIC tube has a conductivity close to that of pure copper tubing. Excellent coating adhesion was achieved. The device details and experimental results are described.

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.

Penetrameter positioner for bore-side radiography of tubes

International Nuclear Information System (INIS)

Davis, E.V.; Foster, B.E.

1983-01-01

A positioner is provided for placing plaque or wire penetrameters, as used in radiographic inspection, in close proximity with the inner wall of tubing at any desired location along the tubing. The positioner head carrying the penetrameter is inflatable whereby it is positioned in the deflated condition, inflated to place the penetrameter against a weld to be inspected in the tubing wall, and then deflated during removal. If desired, the penetrameter holder may be used to center the radiographic source on the axis of the tube

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.

Inservice Inspection in the Fugen

OpenAIRE

1983-01-01

Pressure tube type reactors have specific components orstructures,compared with light water reactors.They are(1) steam drums(2) reactor inlet headers(3) reactor inlet and outlet pipies(4) pressure tubes.Much attention is paid upon Inservice Inspection (ISI)of the above components.

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

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.

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...

Liquid-Nitrogen Test for Blocked Tubes

Science.gov (United States)

Wagner, W. R.

1984-01-01

Nondestructive test identifies obstructed tube in array of parallel tubes. Trickle of liquid nitrogen allowed to flow through tube array until array accumulates substantial formation of frost from moisture in air. Flow stopped and warm air introduced into inlet manifold to heat tubes in array. Tubes still frosted after others defrosted identified as obstructed tubes. Applications include inspection of flow systems having parallel legs.

Inspections of CRDM Nozzle Penetrations in Paks NPP

International Nuclear Information System (INIS)

Doszpod, B.; Doczi, M.

2008-01-01

During the maintenance outage of Unit 2 of Paks Nuclear Power Plant in 2002, performing the regular drop-test of Control Rod Driving Mechanisms (CRDM) reduced drop-speed was observed in case of one CRDM. In spite of the measured value of speed was inside the acceptance limit, so it was still satisfactory, decision was made to disassemble the CRDM to clarify the cause of the speed-anomaly. After removal of the CRDM, by means of visual inspection deformation (bulge) was observed on the inside surface of the heat protection tube of the CRDM nozzle penetration. Deformation was big enough to obstruct the free movement of CRDM. After the deformed heat protection tube was removed, significant bulge was observed also on the corrosion protection tube, at the same elevation. As the root cause of these deformations, presence of water in the space between the CRDM nozzle and the corrosion protection tube was assumed. Non destructive inspection procedures were worked out and utilized to detect the presence of water in the space in question and to find the possible way of water inlet. Performed inspections successfully localized the place of water inlet. Developed inspection program of CRDM nozzles has to be performed during each outage on each unit. Paper deals with introduction of the phenomenon, the cause of damage, inspection the procedures which were worked out and applied, summarize the results of inspections performed.(author)

Evaluating remote control and robotics actions in NPPs in an ALARA perspective: lessons from the evolution of steam generator tube plugging technique in France

International Nuclear Information System (INIS)

Lefaure, C.; Lochard, J.; Blain, A.

1989-01-01

Introducing remote tooling and robotics in NPPs raises many questions. Is it better to develop specific robotic tools for each type of operation, or to conceive more generic multipurpose tool carriers. Does the introduction of remote control and robotics always reduce human involvement and collective doses. What are the impacts on individual doses distribution for the most exposed operators. Under what conditions is robotics justified from an economical point of view. Even if robotics and remote tooling actions can reduce significantly individual and collective exposures, because of their high costs of development, they will be adopted only if simultaneously the potential for operational cost savings is also clearly demonstrated. Integrating operational cost savings in the cost evaluation of the ALARA procedure is important to compare and select among different robotics and remote control actions. This paper presents how to evaluate in a systematic way dose reductions, operational costs savings as well as the conditions under which robotics and remote control actions can effectively improve occupational radiation protection in NPPs. The demonstration is based on an analysis of the evolution of the steam generator tube plugging technique developed in French PWRs

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...

Sigma: computer vision in the service of safety and reliability in the inspection services

International Nuclear Information System (INIS)

Pineiro, P. J.; Mendez, M.; Garcia, A.; Cabrera, E.; Regidor, J. J.

2012-01-01

Vision Computing is growing very fast in the last decade with very efficient tools and algorithms. This allows new development of applications in the nuclear field providing more efficient equipment and tasks: redundant systems, vision-guided mobile robots, automated visual defects recognition, measurement, etc., In this paper Tecnatom describes a detailed example of visual computing application developed to provide secure redundant identification of the thousands of tubes existing in a power plant steam generator. some other on-going or planned visual computing projects by Tecnatom are also introduced. New possibilities of application in the inspection systems for nuclear components appear where the main objective is to maximize their reliability. (Author) 6 refs.

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.

Automation in tube finishing bay

International Nuclear Information System (INIS)

Bhatnagar, Prateek; Satyadev, B.; Raghuraman, S.; Syama Sundara Rao, B.

1997-01-01

Automation concept in tube finishing bay, introduced after the final pass annealing of PHWR tubes resulted in integration of number of sub-systems in synchronisation with each other to produce final cut fuel tubes of specified length, tube finish etc. The tube finishing bay which was physically segregated into four distinct areas: 1. tube spreader and stacking area, 2. I.D. sand blasting area, 3. end conditioning, wad blowing, end capping and O.D. wet grinding area, 4. tube inspection, tube cutting and stacking area has been studied

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.

Development of an optical inspection bench for the inspection of internal surfaces of 650 MHz SCRF cavities

International Nuclear Information System (INIS)

Kokil, S.V.; Kane, G.V.; Raghavendra, S.; Chauhan, S.K.; Rajpoot, D.S.; Oraon, B.; Om Prakash; Joshi, S.C.

2015-01-01

An optical inspection system has been developed for inspection of internal surfaces of 650 MHz superconducting RF cavities. The cavity parts are welded either using Electron Beam or Laser Beam Welding for making a good quality of weld joints. Surface defects like pits, scratches, welding spatters etc. on the internal surface of the cavity deteriorates cavity performance. Surface quality of the cavity equator joint plays an important role in the cavity performance. To study the quality of equator surface, the inspection bench offers high resolution images with a linear resolution of 45 m/pixel at a distance of ∼200 mm. The bench comprises of two major sub-systems, optical imaging system and cavity positioning system. A digital camera and multi coloured illumination system is used to obtain high resolution images. The camera is mounted inside a long cylindrical tube. The cylindrical tube can be inserted into a SCRF cavity. The length of the cylinder is long enough to inspect five-cell 650 MHz SCRF cavity. The cavity is placed on a set of PTFE rollers, which are mounted on a trolley. The cavity can be moved linearly with the help of ball screw-servomotor mechanism. The camera along with cylindrical tube can be rotated around its axis with a stepper motor to scan the cavity's internal surface. The paper presents the details about the optical inspection bench and optical inspection results. (author)

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.)

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)

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.

Internal ultrasonic testing of steam generator tubes

International Nuclear Information System (INIS)

Furlan, J.; Soleille, G.; Chalaye, H.

1983-01-01

The ''in situ'' inspection of steam generator tubes uses generally Foucault currents before starting and along its life. This inspection aims at searching cracks and corrosion defects. The Foucault current method is quite badly adapted to ''closed crack'' detection, for it doesn't introduce neither resistivity or magnetic permeability variation, or lack of matter. More, it is sensible to the magnetic properties of the tube itself and to its environment (tubular or support plates). It is why, this first systematic inspection has to be completed by an ultrasonic one allowing to bring new elements in the uncertain cases. A device with an internal probe has been developed. It ''lights'' the tube wall with the aid of a transducer of which beam reflects on a mirror. Operating conditions are the same as for Foucault current testing, that is to say the probe moves inside the tube without rotation of the device (bent parts are excluded) [fr

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...

Eddy current inspection of mildly ferromagnetic tubing

International Nuclear Information System (INIS)

Mayo, W.R.; Carter, J.R.

1984-02-01

The past decade has seen the development of eddy current probes for inspection of the mildly ferro-magnetic alloy Monel 400. Due to the rapid advances in permanent magnet technology similar probes have been upgraded to magnetically saturate, and hence inspect, the duplex stainless steel Sandvik 3RE60, which has saturation induction more than twice that of Monel 400. Prototypes of these probes have been tested in three ways: saturation capability, quality of typical eddy current data, and ability to eliminate permeability induced signals. Successful laboratory testing, potential applications, and limitations of these type probes are discussed

Implementation status of performance demonstration program for steam generator tubing analysts in Korea

International Nuclear Information System (INIS)

Cho, Chan Hee; Lee, Hee Jong; Yoo, Hyun Ju; Nam, Min Woo; Hong, Sung Yull

2013-01-01

Some essential components in nuclear power plants are periodically inspected using non destructive examinations, for example ultrasonic, eddy current and radiographic examinations, in order to determine their integrity. These components include nuclear power plant items such as vessels, containments, piping systems, pumps, valves, tubes and core support structure. Steam generator tubes have an important safety role because they constitute one of the primary barriers between the radioactive and non radioactive sides of the nuclear power plant. There is potential that if a tube bursts while a plant is operating, radioactivity from the primary coolant system could escape directly to the atmosphere. Therefore, in service inspections are critical in maintaining steam generator tube integrity. In general, the eddy current testing is widely used for the inspection of steam generator tubes due tube integrity. In general, the eddy current testing is widely used for the inspection of steam generator tubes due to its high inspection speed and flaw detectability on non magnetic tubes. However, it is not easy to analyze correctly eddy current signals because they are influenced by many factors. Therefore, the performance of eddy current data analysts for steam generator tubing should be demonstrated comprehensively. In Korea, the performance of steam generator tubing analysts has been demonstrated using the Qualified Data Analyst program. This paper describes the performance demonstration program for steam generator tubing analysts and its implementation results in Korea. The pass rate of domestic analysts for this program was 71.4%

Implementation status of performance demonstration program for steam generator tubing analysts in Korea

Energy Technology Data Exchange (ETDEWEB)

Cho, Chan Hee; Lee, Hee Jong; Yoo, Hyun Ju; Nam, Min Woo [KHNP Central Research Institute, Daejeon (Korea, Republic of); Hong, Sung Yull [Yeungnam Univ., Gyeongsan (Korea, Republic of)

2013-02-15

Some essential components in nuclear power plants are periodically inspected using non destructive examinations, for example ultrasonic, eddy current and radiographic examinations, in order to determine their integrity. These components include nuclear power plant items such as vessels, containments, piping systems, pumps, valves, tubes and core support structure. Steam generator tubes have an important safety role because they constitute one of the primary barriers between the radioactive and non radioactive sides of the nuclear power plant. There is potential that if a tube bursts while a plant is operating, radioactivity from the primary coolant system could escape directly to the atmosphere. Therefore, in service inspections are critical in maintaining steam generator tube integrity. In general, the eddy current testing is widely used for the inspection of steam generator tubes due tube integrity. In general, the eddy current testing is widely used for the inspection of steam generator tubes due to its high inspection speed and flaw detectability on non magnetic tubes. However, it is not easy to analyze correctly eddy current signals because they are influenced by many factors. Therefore, the performance of eddy current data analysts for steam generator tubing should be demonstrated comprehensively. In Korea, the performance of steam generator tubing analysts has been demonstrated using the Qualified Data Analyst program. This paper describes the performance demonstration program for steam generator tubing analysts and its implementation results in Korea. The pass rate of domestic analysts for this program was 71.4%.

Plasma Sputtering Robotic Device for In-Situ Thick Coatings of Long, Small Diameter Vacuum Tubes

Science.gov (United States)

Hershcovitch, Ady

2014-10-01

A novel robotic plasma magnetron mole with a 50 cm long cathode was designed fabricated & operated. Reason for this endeavor is to alleviate the problems of unacceptable ohmic heating of stainless steel vacuum tubes and of electron clouds, due to high secondary electron yield (SEY), in the BNL Relativistic Heavy Ion Collider (RHIC). The magnetron mole was successfully operated to copper coat an assembly containing a full-size, stainless steel, cold bore, RHIC magnet tubing connected to two types of RHIC bellows, to which two additional pipes made of RHIC tubing were connected. To increase cathode lifetime, movable magnet package was developed, and thickest possible cathode was made, with a rather challenging target to substrate (de facto anode) distance of less than 1.5 cm. Achieving reliable steady state magnetron discharges at such a short cathode to anode gap was rather challenging, when compared to commercial coating equipment, where the target to substrate distance is 10's cm; 6.3 cm is the lowest experimental target to substrate distance found in the literature. Additionally, the magnetron developed during this project provides unique omni-directional uniform coating. The magnetron is mounted on a carriage with spring loaded wheels that successfully crossed bellows and adjusted for variations in vacuum tube diameter, while keeping the magnetron centered. Electrical power and cooling water were fed through a cable bundle. The umbilical cabling system is driven by a motorized spool. Excellent coating adhesion was achieved. Measurements indicated that well-scrubbed copper coating reduced SEY to 1, i.e., the problem of electron clouds can be eliminated. Room temperature RF resistivity measurement indicated that 10 μm Cu coated stainless steel RHIC tube has conductivity close to that of pure copper tubing. Excellent coating adhesion was achieved. Device detail and experimental results will be presented. Work supported by Brookhaven Science Associates, LLC under

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