WorldWideScience

Sample records for tube inspection robot

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

    International Nuclear Information System (INIS)

    Boehm, H.H.; Foerch, H.

    1985-01-01

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

  2. Development of a SG Tube Inspection/maintenance Robot

    International Nuclear Information System (INIS)

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

    2005-01-01

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

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-10-15

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

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

    Directory of Open Access Journals (Sweden)

    Yong-Chil Seo

    2016-04-01

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

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

    International Nuclear Information System (INIS)

    Scott Hower; Luiza Vladu; Adrian Nichisov; Mihai Cretu

    2006-01-01

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

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

    International Nuclear Information System (INIS)

    Kato, Shigeo

    2000-01-01

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

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

    International Nuclear Information System (INIS)

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

    2004-01-01

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

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

    International Nuclear Information System (INIS)

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

    2004-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-07-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2006-07-01

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

  12. 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.)

  13. Development of Inspection Robots for Bridge Cables

    Directory of Open Access Journals (Sweden)

    Hae-Bum Yun

    2013-01-01

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

  14. Development of inspection robots for bridge cables.

    Science.gov (United States)

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

    2013-01-01

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

  15. 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

  16. 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

  17. 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

  18. Hydro-Quebec inspection robot RIT-LRG

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  19. Hydro-Quebec inspection robot RIT-LRG

    Energy Technology Data Exchange (ETDEWEB)

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

    2008-07-01

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

  20. 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

  1. 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

  2. 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

  3. 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)

  4. 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.

  5. 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.

  6. 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

  7. Overview of steam generator tube-inspection technology

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  8. Overview of steam generator tube-inspection technology

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-03-15

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

  9. 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.

  10. 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

  11. 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)

  12. Eddy current inspection of tubing

    International Nuclear Information System (INIS)

    Bauza, J. L. R.; Herrero, J.; Diaz, J.

    1966-01-01

    The Experimental research work carried out to develop a Eddy current testing equipment is described. Search coils with ferrite or air cores were used and the obtained results are discussed. Valuable information was gained from a improved channel in which a direct measure of the defect and the reference signal phase difference is obtained. Artificial defect used to evaluate resolution and sensitivity were produced by electro-machining and mechanical means. Finned SAP tubing was tested in a routine basis with the described equipment and the results plotted. Basic and theoretical considerations on the Eddy current testing technique are given in the last section of this report. (Author)

  13. Eddy current inspection of steam generator tubing plugs

    International Nuclear Information System (INIS)

    Cullen, W.K.

    1990-01-01

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

  14. 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

  15. 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

  16. 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.

  17. 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.

  18. 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.)

  19. 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.

  20. 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.)

  1. 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

  2. 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

  3. 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.

  4. 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.

  5. 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

  6. 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)

  7. 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)

  8. 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

  9. 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.

  10. 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

  11. 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)

  12. 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

  13. 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)

  14. Independent tube verification and dynamic tracking in et inspection of nuclear steam generator

    International Nuclear Information System (INIS)

    Xiongzi, Li; Zhongxue, Gan; Lance, Fitzgibbons

    2001-01-01

    The full text follows. In the examination of pressure boundary tubes in steam generators of commercial pressurized water nuclear power plants (PWR's), it is critical to know exactly which particular tube is being accessed. There are no definitive landmarks or markings on the individual tubes. Today this is done manually, it is tedious, and interrupts the normal inspection work, and is difficult due to the presence of water on the tube surface, plug ends instead of tube openings in the field of view, and varying lighting quality. In order to eliminate the human error and increase the efficiency of operation, there is a need to identify tube position during the inspection process, independent of robot encoder position and motion. A process based on a Cognex MVS-8200 system and its application function package has been developed to independently identify tube locations. ABB Combustion Engineering Nuclear Power's Outage Services group, USPPL in collaboration with ABB Power Plant Laboratories' Advanced Computers and Controls department has developed a new vision-based Independent Tube Verification system (GENESIS-ITVS-TM ). The system employ's a model-based tube-shape detection algorithm and dynamic tracking methodology to detect the true tool position and its offsets from identified tube location. GENESIS-ITVS-TM is an automatic Independent Tube Verification System (ITVS). Independent tube verification is a tube validation technique using computer vision, and not using any robot position parameters. This process independently counts the tubes in the horizontal and vertical axes of the plane of the steam generator tube sheet as the work tool is moved. Thus it knows the true position in the steam generator, given a known starting point. This is analogous to the operator's method of counting tubes for verification, but it is automated. GENESIS-ITVS-TM works independent of the robot position, velocity, or acceleration. The tube position information is solely obtained from

  15. 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.)

  16. 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

  17. 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.)

  18. 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

  19. 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

  20. 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

  1. 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)

  2. 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

  3. 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.

  4. 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 ...

  5. 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....

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

    International Nuclear Information System (INIS)

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

    1984-01-01

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

  7. Research on the inspection robot for cable tunnel

    Science.gov (United States)

    Xin, Shihao

    2017-03-01

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

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

    International Nuclear Information System (INIS)

    Hazen, F.B.

    1994-01-01

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

  9. Development of automatic inspection robot for nuclear power plants

    International Nuclear Information System (INIS)

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

    1987-01-01

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

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

    Science.gov (United States)

    Wehner, Walter S.

    2014-01-01

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

  11. 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

  12. 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.)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2008-07-01

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

  14. 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)

  15. 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

  16. 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)

  17. 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

  18. 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.

  19. 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)

  20. 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.

  1. 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

  2. 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.

  3. 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

  4. 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

  5. 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

  6. 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.

  7. 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)

  8. 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.

  9. 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

  10. 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)

  11. 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

  12. 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

  13. 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.

  14. 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).

  15. 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)

  16. 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)

  17. 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.

  18. 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.

  19. 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.

  20. 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

  1. 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)

  2. 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.

  3. 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.

  4. 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

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

    Energy Technology Data Exchange (ETDEWEB)

    Seo, Yong Chil; Jeong, Kyung Min; Shin, Ho Chul; Lee, Sung Uk; Cho, Jae Wan; Choi, Young Soo; Kim, Seung Ho [Korea Atomic Energy Research Institute, Daejeon (Korea, Republic of); Shin, Chun Sup; Park, Ki Tae [Korea Plant Serviceand Engineering, Busan (Korea, Republic of)

    2010-10-15

    Steam generators (SG) are among the most critical components of pressurized water Nuclear Power Plants (NPP). SG tubes must provide a reliable pressure boundary between the primary and secondary cooling water. 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

  6. 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

  7. 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.

  8. 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

  9. 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

  10. 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.

  11. 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

  12. 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.)

  13. 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.

  14. 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

  15. 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.

  16. 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.

  17. 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.

  18. 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

  19. 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

  20. 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

  1. 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.

  2. 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

  3. 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.

  4. 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)

  5. 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.

  6. 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.

  7. 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

  8. 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.

  9. 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)

  10. 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)

  11. 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.

  12. 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

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

    International Nuclear Information System (INIS)

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

    1994-01-01

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

  14. 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

  15. 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)

  16. 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)

  17. 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

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

    International Nuclear Information System (INIS)

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

    2006-01-01

    Large scaled ships, manufactured inside of the country, should be passed welding inspection and painting film inspection. Normally, these kind of inspections are conducted by human inspectors manually, although it cause industrial disasters such as falling accidents and diving accidents frequently. In addition, Ship makers are not to give a full trust to 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.

  19. 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.

  20. 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.)

  1. 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.

  2. 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

  3. 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

  4. 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.

  5. 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.

  6. 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.

  7. 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

  8. 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.

  9. 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.

  10. 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.

  11. 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.

  12. 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...

  13. 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)

  14. 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

  15. 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

  16. 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

  17. 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...

  18. 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)

  19. 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)

  20. 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.

  1. 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

  2. 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

  3. 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

  4. 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)

  5. 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.

  6. 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

  7. 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

  8. 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)

  9. 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.

  10. 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

  11. 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

  12. 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)

  13. 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.

  14. 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)

  15. 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)

  16. 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.

  17. 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.

  18. 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.

  19. 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.

  20. 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

  1. 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.

  2. 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.

  3. 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

  4. 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

  5. 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.

  6. 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

  7. 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)

  8. 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

  9. 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.

  10. 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.

  11. 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...

  12. 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

  13. 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.

  14. 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)

  15. 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.

  16. 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)

  17. 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

  18. 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

  19. 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

  20. 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.

  1. 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.

  2. 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)

  3. 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'

  4. 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.)

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

    International Nuclear Information System (INIS)

    McIntosh, J.B.

    1994-01-01

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

  6. 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

  7. 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.

  8. Rotating sensor technology for the inspection of steam generator tubing

    International Nuclear Information System (INIS)

    Glass, S.W.; Richards, T.A.

    1986-01-01

    A high-resolution profilometry system, has been developed to assess the dimensional condition of steam generator tubes and rapidly produce the data to evaluate the potential for developing in-service leaks. The probe has an electromechanical sensor in a rotating head. This technique has been demonstrated in the field at four U.S. plants and one plant owned by Electricite de France. The Indian Point-2 plant of Consolidated Edison has twice used this technology to save tubes that would have been plugged with the go-gauge criterion and identifying other high-risk candidates for plugging that might otherwise not have been removed from service. As an extension of the PROFIL-360 technology, a rotating eddy current system (EDDY-360) has also been developed. The system provides improved sensitivity, resolution, and characterization of small-volume flaws and complete circumferential coverage as compared to conventional (bobbin and 8 x 1) eddy current techniques. Enhanced eddy current data processing provides on-line data analysis and real-time imaging of detected flaws. (author)

  9. 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

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

    International Nuclear Information System (INIS)

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

    2008-01-01

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

  11. 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

  12. 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)

  13. Improved eddy-current inspection for steam generator tubing

    International Nuclear Information System (INIS)

    Dodd, C.V.; Pate, J.R.; Allen, J.D. Jr.

    1989-01-01

    Computer programs have been written to allow the analysis of different types of eddy-current probes and their performance under different steam generator test conditions. The probe types include the differential bobbin probe, the absolute bobbin probe, the pancake probe and the reflection probe. The generator test conditions include tube supports, copper deposits, magnetite deposits, denting, wastage, pitting, cracking and IGA. These studies are based mostly on computed values, with the limited number of test specimens available used to verify the computed results. The instrument readings were computed for a complete matrix of the different test conditions, and then the test conditions determined as a function of the readings by a least-squares technique. A comparison was made of the errors in fit and instrument drift for the different probe types. The computations of the change in instrument reading due to the defects have led to an ''inversion'' technique in which the defect properties can be computed from the instrument readings. This has been done both experimentally and analytically for each of these probe types. 3 refs., 13 figs., 1 tab

  14. 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

  15. Mobile robot for power plant inspection and maintenance

    International Nuclear Information System (INIS)

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

    1988-01-01

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

  16. 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.

  17. 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.

  18. 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)

  19. 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

  20. 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)

  1. 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)

  2. 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)

  3. 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

  4. 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.

  5. 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

  6. 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

  7. 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

  8. 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).

  9. Robotic system for remote inspection of underground storage tanks

    International Nuclear Information System (INIS)

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

    1990-01-01

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

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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.

  15. 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

  16. 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)

  17. 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

  18. 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)

  19. 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)

  20. 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.

  1. 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.

  2. 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)

  3. 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)

  4. 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

  5. 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)

  6. 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

  7. 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.

  8. 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)

  9. 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

  10. 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

  11. 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.

  12. 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

  13. 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.

  14. 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

  15. 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.

  16. 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

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

    International Nuclear Information System (INIS)

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

    2006-01-01

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

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

    Directory of Open Access Journals (Sweden)

    Ramon Barber

    2015-03-01

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

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

    Science.gov (United States)

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

    2006-01-01

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

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

    International Nuclear Information System (INIS)

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

    2012-01-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2012-08-15

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

  2. 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

  3. 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

  4. 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.

  5. 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)

  6. 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)

  7. 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)

  8. 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.)

  9. 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.

  10. 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

  11. 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.

  12. 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

  13. 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

  14. 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.

  15. 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)

  16. 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)

  17. 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)

  18. 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.)

  19. 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.

  20. Intercrystalline Stress Corrosion of Inconel 600 Inspection Tubes in the Aagesta Reactor

    Energy Technology Data Exchange (ETDEWEB)

    Groenwall, B; Ljungberg, L; Huebner, W; Stuart, W

    1966-08-15

    Intercrystalline stress corrosion cracking has occurred in the Aagesta reactor in three so-called inspection tubes made of Inconel 600. The tubes had been exposed to 217 deg C light water, containing 1-4 ppm LiOH (later KOH) but only small amounts of oxygen, chloride and other impurities. Some of the circumferential cracks developed in or at crevices on the outside surface. At these positions constituents dissolved in the water may have concentrated. The crevices are likely to have contained a gas phase, mainly nitrogen. Local boiling in the crevices may also have occurred. Some few cracks were also found outside the crevice region. Irradiation effects can be neglected. No surface contamination could be detected except for a very minor fluoride content (1 {mu}g/cm{sup 2}). The failed tubes had been subjected to high stresses, partly remaining from milling, partly induced by welding operations. The possibility that stresses slightly above the 0.2 per cent offset yield strength have occurred at the operating temperature cannot be excluded. The cracked tube material contained a large amount of carbide particles and other precipitates, both at grain boundaries and in the interior of grains. The particles appeared as stringers in circumferential zones. Zones depleted in precipitates were found along grain boundaries. The failed tube turned out to have an unusually high mechanical strength, likely due to a combination of some kind of ageing process and cold work (1.0 - 1.3 per cent plastic strain). Laboratory exposures of stressed surplus material in high purity water and in 1 M LiOH at 220 deg C showed some pitting but no cracking after 6800 h and 5900 h respectively. Though the encountered failures may have developed because of influence of some few or several of the above-mentioned detrimental factors, the actual cause cannot be stated with certainty. In the literature information is given concerning intercrystalline stress corrosion cracking of Inconel 600 both in

  1. Intercrystalline Stress Corrosion of Inconel 600 Inspection Tubes in the Aagesta Reactor

    International Nuclear Information System (INIS)

    Groenwall, B.; Ljungberg, L.; Huebner, W.; Stuart, W.

    1966-08-01

    Intercrystalline stress corrosion cracking has occurred in the Aagesta reactor in three so-called inspection tubes made of Inconel 600. The tubes had been exposed to 217 deg C light water, containing 1-4 ppm LiOH (later KOH) but only small amounts of oxygen, chloride and other impurities. Some of the circumferential cracks developed in or at crevices on the outside surface. At these positions constituents dissolved in the water may have concentrated. The crevices are likely to have contained a gas phase, mainly nitrogen. Local boiling in the crevices may also have occurred. Some few cracks were also found outside the crevice region. Irradiation effects can be neglected. No surface contamination could be detected except for a very minor fluoride content (1 μg/cm 2 ). The failed tubes had been subjected to high stresses, partly remaining from milling, partly induced by welding operations. The possibility that stresses slightly above the 0.2 per cent offset yield strength have occurred at the operating temperature cannot be excluded. The cracked tube material contained a large amount of carbide particles and other precipitates, both at grain boundaries and in the interior of grains. The particles appeared as stringers in circumferential zones. Zones depleted in precipitates were found along grain boundaries. The failed tube turned out to have an unusually high mechanical strength, likely due to a combination of some kind of ageing process and cold work (1.0 - 1.3 per cent plastic strain). Laboratory exposures of stressed surplus material in high purity water and in 1 M LiOH at 220 deg C showed some pitting but no cracking after 6800 h and 5900 h respectively. Though the encountered failures may have developed because of influence of some few or several of the above-mentioned detrimental factors, the actual cause cannot be stated with certainty. In the literature information is given concerning intercrystalline stress corrosion cracking of Inconel 600 both in caustic

  2. 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.)

  3. 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

  4. 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)

  5. 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)

  6. 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

  7. 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

  8. 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

  9. 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.

  10. 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)

  11. 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)

  12. Robotics

    Science.gov (United States)

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

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

  13. In-service inspection of condenser tubes by means of electrochemical methods

    International Nuclear Information System (INIS)

    Taelemans, G.

    The commissioning of an increasing number of large nuclear power plants involves an increased significance of such condenser tube problems as: - erosion on tube ends, - generalized corrosion and pitting corrosion, - deposits in the tubes. In order to solve such problems, investigations were performed especially focused on a measurement technique that enables in-service behaviour of condenser tubes to be monitored. For such a purpose, measurement of the polarization resistance has been adopted. The existing corrosion products and scaled-off iron oxides were eliminated by means of a carborundum balls processing, as clearly appears from polarization resistance reduction. Then iron sulphate was injected in order to build a new and better protective layer. In addition, the tube was kept clean by means of foam rubber balls. There is a second implementation area: fouled condenser tubes. A significant polarization resistance reduction is noted during the acid cleaning. (orig.) [de

  14. 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.

  15. Inspection from outside of weld bead on tubes by gamma absorptiometry

    International Nuclear Information System (INIS)

    Heintz, L.; Lefevre, C.; Bergey, C.

    1983-07-01

    In this method used when it is impossible to place the gamma source inside the tube, the gamma rays pass through the tube twice. The thickness of the weld bead is determined by only one coordinate of space: the polar angle in the plane of the weld. The method was tested with an uranium ring with machined defects. The position of the defects was determined with an accuracy of 1 degree and resolution is of the order of the tube thickness [fr

  16. Eddy-current inspection of ferromagnetic tubing using pulsed magnetic saturation

    Energy Technology Data Exchange (ETDEWEB)

    Dodd, C V; Deeds, W E

    1986-07-01

    A pulsed eddy-current system has been designed and developed for nondestructive evaluation of 2.25Cr-1Mo steam generator tubing from the bore side. Since the tubing is ferromagnetic, a large current pulse is sent through a driver coil to produce magnetic saturation all the way through the tube wall. A pickup coil produces an output pulse that is dependent upon the tube properties as well as the driving pulse. The output pulse heights at selected times are used as data that are computer-correlated with calibration data taken from machined standards. Performance data, circuit diagrams, and computer programs are given for the system, which has been demonstrated to detect small flaws located near the outside of a thick ferromagnetic tube.

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

    CERN Document Server

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

    2018-01-01

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

  18. The generation of calandria tube (CT) inner diameter profiles from fuel channel (FC) inspection data

    Energy Technology Data Exchange (ETDEWEB)

    Sedran, P.J., E-mail: paul.sedran@amec.com [AMEC NSS, Toronto, ON (Canada); Rankin, B., E-mail: brankin@nbpower.com [NB Power, Fredericton, NB (Canada); Lemire, C., E-mail: Lemire.Christian@hydro.qc.ca [Hydro-Quebec, Montreal, QC (Canada)

    2015-07-01

    Studies of CT deformation at spacer locations, key to the development of FC deformation modelling, have been limited by the availability of gauging measurements from removed CTs. In [1], it was proposed that CT dimensional profiles could be generated using FC inspection data. Since then, the concept was investigated further by assessing: (1) the normalisation of gap measurements to the diameter of the spacer coil, (2) the validity of gap measurements from inspections of Point Lepreau and Gentilly-2, and the CT dimensional profiles generated from the inspection data.It was concluded, from the work presented in this paper, that the CT-PT gap data and the CT dimensional profiles generated using the data from the two subject inspections are reasonable. (author)

  19. In service inspection of steam generator tubes with a multifrequence eddy current apparatus

    International Nuclear Information System (INIS)

    Pigeon, M.; Saglio, R.

    1976-01-01

    The described multifrequency device has been designed and developed for a complete testing of tubes. It is necessary to eliminate the signals given by plates, expanded parts, background noises and magnetic signals which can mask some possible defects [fr

  20. 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

  1. Wavelets transforms and fuzzy logic in the eddy-current inspection of nuclear power plants steam generator tubes

    International Nuclear Information System (INIS)

    Lopez, Luiz Antonio Negro Martin

    2002-01-01

    Nuclear power plants steam generators around the world have presented early damage history in their tubes, caused either by design errors or by inappropriate operation, which besides reducing the availability and the safety of the nuclear power plants it also generates heavy economical burden. To monitor the steam generators operational condition, the Eddy Current testing of their tubes is the non destructive method used to detect, localize, classify and to size the defects. The inspection is performed by inserting probes with coils in the tubes generating a signal correlated to the defect. These signals produced by the probe electric circuit are composed by the resistance and the inductive components which can be combined to produce a Lissajous figure in the complex plane. However, Eddy-Current signals contain noise which induce subjectivity inducing to errors in the inspector diagnosis. It is not uncommon to have different diagnosis from two inspectors about the same signal. The present work has the objective of supplying a methodology to analyze the signals which could help the inspector in the difficult task of interpreting the Eddy Current signals. It is proposed a method to remove the noise based on Wavelets Transforms. It is also proposed a normalization in the signal phase angle measurements. Furthermore, two additional characteristics are also studied, namely: the signal amplitudes and the widths of the Lissajous petals. The use of a Fuzzy Logic based inference engine is also developed and its use is demonstrated to be viable. The defects studied in this work are those which produces volumetric changes in the material. In order to test the proposed methodology, several artificial defects were produced in tubes using different types of materials like: brass, 316L stainless steel and Inconel 600 to produce a experimental data base. An Eddy-Current inspection equipment, the MIZ-17ET was used. Around 1000 time series signals of defects were acquired through

  2. 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)

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

    International Nuclear Information System (INIS)

    Guillet, J.; Marcel Tortolano

    2005-01-01

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

  4. Ultrasonic inspection of steam-generator tube axial cracking using Lamb wave

    International Nuclear Information System (INIS)

    Park, Jae Seok

    2007-02-01

    In this study, the interaction of Lamb wave propagating thin tube structure with finite vertical discontinuity was studied using both modal decomposition method (MDM) and experimental method. For MDM, a global matrix formulation and orthogonality of Lamb mode was employed to describe the boundary condition of finite vertical discontinuity of the tube and the mode conversion phenomenon respectively. The final form of governing equation by MDM was a linear matrix equation which could be solved using a simple matrix identity. The calculation result showed that, below the cut-off frequency, reflection amplitudes of both A0 and S0 Lamb mode increase as the depth of discontinuity increased beyond the threshold value. An experimental investigation was performed using a Hertzian-contact transducer and steam-generator tubes to verify the calculation results by MDM. A0 Lamb mode was selected as a test signal considering the characteristics of the transducer and previous studies. The experiment for mode identification using half-sectioned tube verified that the Hertzian-contact transducer effectively generated A0 Lamb mode. Tests performed using steam-generator tubes with EDM (electric discharge machined) axial notches showed that the deeper notches produced the higher reflection echo. A0 Lamb mode interacted with the notch having a depth larger than 1/40 of wave length, or corresponding to 30% of the wall thickness. This finding was in good agreement with previous studies and the prediction by MDM. The experiment using real crack specimens to estimate the deviation of reflection amplitude showed that the reflection cross-section of real crack was very similar with that of EDM notch. Therefore, specimens with EDM notches can be used as reference blocks for Lamb wave UT calibration

  5. Applying computer modeling to eddy current signal analysis for steam generator and heat exchanger tube inspections

    International Nuclear Information System (INIS)

    Sullivan, S.P.; Cecco, V.S.; Carter, J.R.; Spanner, M.; McElvanney, M.; Krause, T.W.; Tkaczyk, R.

    2000-01-01

    Licensing requirements for eddy current inspections for nuclear steam generators and heat exchangers are becoming increasingly stringent. The traditional industry-standard method of comparing inspection signals with flaw signals from simple in-line calibration standards is proving to be inadequate. A more complete understanding of eddy current and magnetic field interactions with flaws and other anomalies is required for the industry to generate consistently reliable inspections. Computer modeling is a valuable tool in improving the reliability of eddy current signal analysis. Results from computer modeling are helping inspectors to properly discriminate between real flaw signals and false calls, and improving reliability in flaw sizing. This presentation will discuss complementary eddy current computer modeling techniques such as the Finite Element Method (FEM), Volume Integral Method (VIM), Layer Approximation and other analytic methods. Each of these methods have advantages and limitations. An extension of the Layer Approximation to model eddy current probe responses to ferromagnetic materials will also be presented. Finally examples will be discussed demonstrating how some significant eddy current signal analysis problems have been resolved using appropriate electromagnetic computer modeling tools

  6. Manipulator for inspection or repair of heat exchanger tubes, in particular in steam generators for nuclear reactors

    International Nuclear Information System (INIS)

    Gugel, G.

    1979-01-01

    The manipulator used to inspect or repair pipes in the steam generator chamber of a PWR can be introduced and removed through a penetration nozzle which can be sealed tightly by means of a blind flange. The front end of the manipulator carries a swivel arm which can be operated remotely to be moved in a plane parallel to the tube plate. The end of the swivel arm carries a holder for a mouthpiece which can be extended and retracted. This carrier can also be operated remotely so as to be aligned to the pipe orifices in a direction normal to the swivel plane of the swivel arm. The manipulator is supported in antifriction bearings in the penetration nozzle so as to be movable longitudinally. (DG) [de

  7. Melanoma patients' disease-specific knowledge, information preference, and appreciation of educational YouTube videos for self-inspection.

    Science.gov (United States)

    Damude, S; Hoekstra-Weebers, J E H M; van Leeuwen, B L; Hoekstra, H J

    2017-08-01

    Informing and educating melanoma patients is important for early detection of a recurrence or second primary. This study aimed to investigate Dutch melanoma patients' disease-specific knowledge, and their opinions on information provision and the value of e-Health videos. All AJCC stage I-II melanoma patients in follow-up between March 2015 and March 2016 at a single melanoma center were invited to complete 19 online questions, addressing respondents' characteristics, knowledge on melanoma, and opinions on melanoma-specific information received and the educational YouTube videos. In total, 100 patients completed the survey (response = 52%); median age was 60 years and 51% were female. Breslow tumor thickness was unknown by 34% and incorrectly indicated by 19%, for presence of ulceration this was 33% and 11%, for mitosis 65% and 14%, and for AJCC stage 52% and 23%, respectively. Only 5% correctly reproduced all four tumor characteristics. Orally delivered information regarding warning signs, severity, treatment possibilities, and importance of self-inspection was clearest for patients, compared to information in the melanoma brochure. According to 77% of patients, YouTube videos regarding self-inspection of the skin and regional lymph nodes had additional value. Altogether, 63% preferred receiving information in multiple ways; 92% orally by their physician, 62% through videos, and 43% through brochures. Patients' melanoma-specific knowledge appears to be limited. There is an urgent need for further improvement of providing information and patient education. In addition to oral and written information, e-Health videos seem to be a convenient supplemental and easy accessible method for patient education. Copyright © 2017 Elsevier Ltd, BASO ~ The Association for Cancer Surgery, and the European Society of Surgical Oncology. All rights reserved.

  8. Ultrasonic inspection of steam generator tubes in Superphenix F.B.R. Power plant

    International Nuclear Information System (INIS)

    Gondard, C.

    1991-01-01

    An ultrasonic method has been developed to test of the S.G's tubes of SPX fast breeder reactor. A new type of rotating probes for cracks and wall thickness measurements have been built up and successfully tested. The data acquisition and processing system SPARTACUS was used; it allows high frequency digitalization and powerful signal processings using frequency representations. The actual performances were tested on natural defects under representative operating conditions

  9. Current state and development trends of inspections of steam generator tubes by eddy currents method

    International Nuclear Information System (INIS)

    Kubis, S.; Herman, M.

    1988-01-01

    The requirements are presented for steam generator tube testing and the factors are discussed affecting the accuracy of measurement by the eddy currents method. The individual types of the eddy currents method are described, such as the single-frequency method, the multi-frequency method and the pulse eddy currents method. The demands are summed up on manipulator systems whose design is adapted to the steam generator configuration conditions. (E.S.). 5 figs., 16 possu

  10. Robotics

    International Nuclear Information System (INIS)

    Scheide, A.W.

    1983-01-01

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

  11. Characteristics Testing of the ECT Bobbin Probe for S/G Tube Inspection

    Energy Technology Data Exchange (ETDEWEB)

    Nam, Min Woo; Lee, Hee Jong; Cho, Chan Hee; Yoo, Hyun Joo [Korea Electric Power Research Institute, Daejeon (Korea, Republic of)

    2010-05-15

    The bobbin probe technique is basically one of the important ECT methods for the steam generator tube integrity assessment that is practiced during each plant outage. The bobbin probe also is the essential component which consists of the whole ECT examination system, and provides a decisive data for the evaluation of tube integrity in compliance with acceptance criteria described in specific procedures. The selection of probe is especially important because the quality of acquired ECT data is determined by the probe design characteristics, such as geometry and operation frequency, and has an important effect on examination results. The Electric Power Research Institute (EPRI) has recently defined the procedures for the qualification of eddy current hardware and technique. These procedures provide two basic methods for qualification. Flawed tube removed from operation, or artificial flaw is required for the original qualification of technique combined with related flaw mechanism. In case where the original qualification has been completed, the concept of equivalency may be used to extend the original qualification to similar probe designs. The qualified acquisition technique may be modified to substitute or replace instruments or probes without re-qualification provided that the range of essential variables defined in the examination technique specification sheet are met. In this case, both the original and replaced instrument or probe shall be characterized utilizing EPRI Guideline supplement 'H1'. This study is the result of the comparative performance evaluation of bobbin coil eddy current probes manufactured by KEPRI and a foreign manufacturer. As a result of this study, although there were minor differences between the two probe types, it was evaluated that the two probes were almost identical in the significant performance characteristics described in the EPRI guideline

  12. Eddy current inspection of tubing; Inspeccion de tubos por corrientes de Foucault

    Energy Technology Data Exchange (ETDEWEB)

    Bauza, J L. R.; Herrero, J; Diaz, J

    1966-07-01

    The Experimental research work carried out to develop a Eddy current testing equipment is described. Search coils with ferrite or air cores were used and the obtained results are discussed. Valuable information was gained from a improved channel in which a direct measure of the defect and the reference signal phase difference is obtained. Artificial defect used to evaluate resolution and sensitivity were produced by electro-machining and mechanical means. Finned SAP tubing was tested in a routine basis with the described equipment and the results plotted. Basic and theoretical considerations on the Eddy current testing technique are given in the last section of this report. (Author)

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

    Directory of Open Access Journals (Sweden)

    Rui Wang

    2016-01-01

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

  14. 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

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

    International Nuclear Information System (INIS)

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

    2004-01-01

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

  16. Characteristics Testing of the ECT Bobbin Probe for Steam Generator Tube Inspection of Nuclear Power Plant

    International Nuclear Information System (INIS)

    Nam, Min Woo; Lee, Hee Jong; Cho, Chan hee; Yoo, Hyun Joo

    2010-01-01

    The steam generator management program(SGMP) has recently defined the procedures for the qualification of eddy current hardware and technique. These procedures provide two basic methods for qualification. The first way is to qualify the equipment or the probe by using the flaw mechanism and method of the pulled tubes from the heat exchangers or the artificial flawed tubes. The second way is to verify the equivalency with the characteristics of the qualified equipment or probe. In this case, the qualified equipment or probe may be modified to substitute or replace instruments or probes without re-qualification provided that the range of essential variables defined in the examination technique specification sheet are met. This study is to describe the result of the comparative performance evaluation of bobbin coil eddy current probes manufactured by KEPCO Research Institute and probes manufactured by a foreign manufacturer. As a result of this study, although there were minor differences between the two kinds of probes, it was evaluated that the two kinds of probes were almost identical in the significant performance characteristics described in the KEPCO Research Institute guideline

  17. Characteristics Testing of the ECT Bobbin Probe for Steam Generator Tube Inspection of Nuclear Power Plant

    Energy Technology Data Exchange (ETDEWEB)

    Nam, Min Woo; Lee, Hee Jong; Cho, Chan hee; Yoo, Hyun Joo [KEPCO, Daejeon (Korea, Republic of)

    2010-08-15

    The steam generator management program(SGMP) has recently defined the procedures for the qualification of eddy current hardware and technique. These procedures provide two basic methods for qualification. The first way is to qualify the equipment or the probe by using the flaw mechanism and method of the pulled tubes from the heat exchangers or the artificial flawed tubes. The second way is to verify the equivalency with the characteristics of the qualified equipment or probe. In this case, the qualified equipment or probe may be modified to substitute or replace instruments or probes without re-qualification provided that the range of essential variables defined in the examination technique specification sheet are met. This study is to describe the result of the comparative performance evaluation of bobbin coil eddy current probes manufactured by KEPCO Research Institute and probes manufactured by a foreign manufacturer. As a result of this study, although there were minor differences between the two kinds of probes, it was evaluated that the two kinds of probes were almost identical in the significant performance characteristics described in the KEPCO Research Institute guideline

  18. 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.

  19. In-service inspection of sub-coating defects in PWR reactor vessel tubes

    International Nuclear Information System (INIS)

    Birac, A.; Frappier, J.C.; Saglio, Robert.

    1982-08-01

    Since the presence of cracks under the coating of the tubes of certain PWR reactor vessels were noted during manufacture, the need emerged to develop a nondestructive testing method to guarantee the detection of existing cracks and to determine their potential evolution. An ultrasonic testing method was developed for the purpose. In Part 1, the choice of ultrasonic transducers is justified from the theoretical and practical standpoints. In Part 2, the results obtained on test specimens containing artificial defects are presented in accordance with the different parameters involved. In Part 3, covering parts with a large number of real defects, the results of real defect/recorded signal correlations are given, with respect to both detection and dimensions. Examples of automatic data processing are analyzed [fr

  20. 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)

  1. Robotics

    Energy Technology Data Exchange (ETDEWEB)

    Lorino, P; Altwegg, J M

    1985-05-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2014-10-15

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

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

    International Nuclear Information System (INIS)

    Ryder, W.

    1998-01-01

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

  4. 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...

  5. 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

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

    Directory of Open Access Journals (Sweden)

    Vimal AGARWAL

    2011-04-01

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

  7. Feasibility Test with a STS304 tube of the Eddy Current Test using a Bobbin Probe for the SMART SG Tube Inspection

    International Nuclear Information System (INIS)

    Lee, Yoon Sang; Jung, Hyun Kyu; Choung, Yun Hang

    2010-01-01

    The SMART SG tubes will be made of Alloy 690. The outside diameter will be 17 mm and the thickness will be 2.5 mm. They will be assembled helically around, and their innermost diameter will be about 600 mm and the total length will be about 32 meters. For the sake of safety, SMART SG tubes are designed for use with thick tubes such as 2.5 mm thickness compared to about 1 mm thickness of normal Korean standard pressurized water reactor tubes. Due to using thick tubes such as the 2.5 mm varieties, it was doubted that the Eddy Current Testing Method (ECT) would be a feasible method. Therefore we are trying to check the feasibility of the ECT using the substitute material STS304 tube instead of Alloy 690 tubes with the bobbin type ECT probe. The previous paper reported the feasibility of the ECT using modeling, but this paper will report the preliminary experimental results and comparison with the previous results of the modeling for the STS304 tube

  8. Robotics

    Indian Academy of Sciences (India)

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

  9. Evaluation of ultrasound inspection of steel H K-40 tubes used in oil processing plant furnaces; Avaliacao da inspecao ultra-sonica de tubos de aco HK-40 usado em fornos de plantas de processamento de petroleo

    Energy Technology Data Exchange (ETDEWEB)

    Staszczak, Eduardo Jose; Rebello, Joao Marcos Alcoforado; Riguera, Glaucio [Universidade Federal, Rio de Janeiro, RJ (Brazil). Coordenacao dos Programas de Pos-graduacao de Engenharia. Lab. de Ensaios Nao-Destrutivos; Martins, Marcus Vinicius M.; Carneval, Ricardo de Oliveira [PETROBRAS, Rio de Janeiro, RJ (Brazil). Centro de Pesquisas

    2003-06-01

    The ultra-sound inspection is usually an alternative to the techniques used for the inspection of tubes of steel H K-40. Even so up to now it was not very analyzed it remains so much to real potentiality of the technique in what it refers to the minimum size of discontinuities for its detection with relationship to the characterization of the size of discontinuities and the respective ultra-sound signal. This work besides reviewing fundamental aspects of the problems of inspection of these tubes tries to relate the form of the ultra-sound signal with the size of the found discontinuities. (author)

  10. 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)

  11. Intercomparison of techniques for inspection and diagnostics of heavy water reactor pressure tubes: Flaw detection and characterization [Phase 1] [Sample summary reports of pressure tube samples from Argentina, India, Canada, Republic of Korea, and Romania

    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

  12. 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)

  13. 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

  14. 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.

  15. 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

  16. 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.)

  17. 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

  18. 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.

  19. Effects of human performance methods of the radiation exposure of the task personnel during the inspection of steam generator heat tubes

    International Nuclear Information System (INIS)

    Wilkes, Bernd; Bienentreu, Robert

    2008-01-01

    Westinghouse has implemented the so called human performance philosophy for specific scopes of work. Human performance is supposed to establish and support personnel behavior aimed to a safe and reliable operation of the plant. The overall goal is the prevention of errors. Every action deviating from the expected behavior is defined as an error, independent of the consequences. The accident statistics has shown that every severe accident was preceded by hundreds of events without consequences. The implementation of these techniques is demonstrated using the process of steam generator heat tube inspection. According to the ALARA principle a lot of effort was concentrated on dose reduction for the personnel, including constructive (improved testing probes, improved manipulator, etc.) and administrative measures.

  20. Inspection of heat transfer tubes after mock-up tests of miniaturized apparatus for the acid recovery evaporator. Contract research

    International Nuclear Information System (INIS)

    Hamada, Shozo; Fukaya, Kiyoshi; Kato, Chiaki; Yanagihara, Takao; Doi, Masamitu; Kiuchi, Kiyoshi

    2001-10-01

    The demonstration test for the acid recovery evaporator and the dissolver used in the major equipment of Rokkasho Reprocessing Plant (RRP), has been carried out. The mock-up miniature equipment has been employed to it. This test had been performed from April in 1998. The total time of demonstration test using the mock-up equipment is about two and half years, which corresponds to about 20,000 hours. After that, four of the seven heat transfer tubes used in the evaporator were drawn out and the corrosion level and the mechanical properties were evaluated for one of them. As a result, intergranular corrosion was recognized in the inner surface of the heat transfer tube and the corrosion depth at the grain boundary was statistically shown to be about one grain from the inner surface. Further, no change in mechanical properties was observed and growth of intergranular cracks in the inner surface of the specimen was found after flattering test. (author)

  1. Nondestructive inspection of the tubes of TRIGA IPR-R1 reactor heat exchanger by eddy current testing

    International Nuclear Information System (INIS)

    Silva Junior, Silverio F.; Silva, Roger F.; Oliveira, Paulo F.; Barreto, Erika S.; Ribeiro, Isabela G.; Fraiz, Felipe C.

    2013-01-01

    The IPR-R1 TRIGA MARK 1 reactor is an open pool type reactor, cooled light water. It is used for research activities, personnel training and radioisotopes production, in operation since 1960 at the Nuclear Technology Development Center - CDTN/CNEN. It operates at a maximum thermal power of 100 kW and usually, the fuel cooling is done by natural circulation. If necessary, an external auxiliary cooling system, with a shell-and-tube type heat exchanger, can be used to improve the water heat removal. As part of the ageing management program of the reactor, a nondestructive evaluation of their heat exchanger stainless steel tubes will be performed, in order to verify its integrity. The examinations will be performed using the eddy current test method, which allows the detection and characterization of structural discontinuities in the wall of the tubes, if existing. For this purpose, probes and reference standards were designed and manufactured at CDTN facilities and test procedures were established and validated. In this paper, a description of the proposed infrastructure as well as the test methodology to be used in the examinations are presented and discussed. (author)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    1997-08-01

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

  3. 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)

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

    Science.gov (United States)

    1994-06-01

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

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2015-10-15

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

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

    International Nuclear Information System (INIS)

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

    2015-01-01

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

  7. Robotics and remote systems applications

    International Nuclear Information System (INIS)

    Rabold, D.E.

    1996-01-01

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

  8. 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.

  9. 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

  10. 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.

  11. 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)

  12. 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

  13. 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)

  14. 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

  15. 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

  16. 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)

  17. Fracture inspection by BHTV logging through a vinyl chloride tube; Enbi pipe ga sonyusareta kosei deno BHTV ni yoru kiretsu chosa

    Energy Technology Data Exchange (ETDEWEB)

    Horikawa, H.; Okabe, T.; Takasugi, S. [GERD Geothermal Energy Research and Development Co. Ltd., Tokyo (Japan); Yamauchi, Y.; Imanishi, H. [Osaka Soil Test, Osaka (Japan)

    1997-05-27

    A borehole televiewer (BHTV) logging was conducted to investigate cracks in bored wells. The logging process shoots ultrasonic waves onto bore walls and utilizes reflection waves from the bore walls. If the bores are filled with muddy water, or the ultrasonic waves can pass through even if vinyl chloride tubes have been inserted after excavation, the state of the bore walls can be investigated in principle. Conventional optical scanners are, however, incapable of making this investigation. The BHTV logging can be used for identifying lithofacies from reflection intensities from bore walls (it depends on sound impedance of rocks), not to speak of finding cracks. As a result of making logging upon setting time windows from 105 to 145 {mu} sec in a bored well inserted with a vinyl chloride tube, cracks in the bore wall were identified clearly through the vinyl chloride tube. If the distance between the bore wall and the vinyl chloride tube becomes smaller, setting the time window becomes difficult, making reflection data acquisition more difficult. Impacts of decentering in the vinyl chloride tube on the data and the crack analysis result are small. The reflection intensity has decreased by about half as a result of having the circular vinyl chloride tube inserted. 5 refs., 9 figs., 1 tab.

  18. 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...

  19. 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

  20. 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

  1. Exploratorium: Robots.

    Science.gov (United States)

    Brand, Judith, Ed.

    2002-01-01

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

  2. 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.

  3. CANDU steam generator tubing material service experience and allied development

    International Nuclear Information System (INIS)

    Hart, A.E.; Lesurf, J.E.

    1976-01-01

    This paper covers the following aspects for the tube materials in CANDU-PHW steam generators: inservice performance with respect to tube leaks and coolant activity attributable to boiler tube corrosion, selection of tube materials for use with non-boiling and boiling primary coolants, supporting development on corrosion, vibration, fretting wear, tube inspection, leak detection and plugging of defective tubes. (author)

  4. Lessons of nuclear robot history

    International Nuclear Information System (INIS)

    Oomichi, Takeo

    2014-01-01

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

  5. RIMACS, Reactor Inspection Main Control System

    International Nuclear Information System (INIS)

    2008-01-01

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

  6. In Pipe Robot with Hybrid Locomotion System

    Directory of Open Access Journals (Sweden)

    Cristian Miclauş

    2015-06-01

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

  7. 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)

  8. 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

  9. 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

  10. 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)

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

    Energy Technology Data Exchange (ETDEWEB)

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

    2004-07-01

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

  12. Heat exchanger tube tool

    International Nuclear Information System (INIS)

    Gugel, G.

    1976-01-01

    Certain types of heat-exchangers have tubes opening through a tube sheet to a manifold having an access opening offset from alignment with the tube ends. A tool for inserting a device, such as for inspection or repair, is provided for use in such instances. The tool is formed by a flexible guide tube insertable through the access opening and having an inner end provided with a connector for connection with the opening of the tube in which the device is to be inserted, and an outer end which remains outside of the chamber, the guide tube having adequate length for this arrangement. A flexible transport hose for internally transporting the device slides inside of the guide tube. This hose is long enough to slide through the guide tube, into the heat-exchanger tube, and through the latter to the extent required for the use of the device. The guide tube must be bent to reach the end of the heat-exchanger tube and the latter may be constructed with a bend, the hose carrying anit-friction elements at interspaced locations along its length to make it possible for the hose to negotiate such bends while sliding to the location where the use of the device is required

  13. 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.

  14. 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.

  15. 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.

  16. 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

  17. Robot Actors, Robot Dramaturgies

    DEFF Research Database (Denmark)

    Jochum, Elizabeth

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

  18. 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

  19. 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)

  20. Robotic architectures

    CSIR Research Space (South Africa)

    Mtshali, M

    2010-01-01

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

  1. Steam generator tube failures

    International Nuclear Information System (INIS)

    MacDonald, P.E.; Shah, V.N.; Ward, L.W.; Ellison, P.G.

    1996-04-01

    A review and summary of the available information on steam generator tubing failures and the impact of these failures on plant safety is presented. The following topics are covered: pressurized water reactor (PWR), Canadian deuterium uranium (CANDU) reactor, and Russian water moderated, water cooled energy reactor (VVER) steam generator degradation, PWR steam generator tube ruptures, the thermal-hydraulic response of a PWR plant with a faulted steam generator, the risk significance of steam generator tube rupture accidents, tubing inspection requirements and fitness-for-service criteria in various countries, and defect detection reliability and sizing accuracy. A significant number of steam generator tubes are defective and are removed from service or repaired each year. This wide spread damage has been caused by many diverse degradation mechanisms, some of which are difficult to detect and predict. In addition, spontaneous tube ruptures have occurred at the rate of about one every 2 years over the last 20 years, and incipient tube ruptures (tube failures usually identified with leak detection monitors just before rupture) have been occurring at the rate of about one per year. These ruptures have caused complex plant transients which have not always been easy for the reactor operators to control. Our analysis shows that if more than 15 tubes rupture during a main steam line break, the system response could lead to core melting. Although spontaneous and induced steam generator tube ruptures are small contributors to the total core damage frequency calculated in probabilistic risk assessments, they are risk significant because the radionuclides are likely to bypass the reactor containment building. The frequency of steam generator tube ruptures can be significantly reduced through appropriate and timely inspections and repairs or removal from service

  2. 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)

  3. Inspection Database

    Data.gov (United States)

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

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

    DEFF Research Database (Denmark)

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

    2017-01-01

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

  5. 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

  6. 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)

  7. 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.)

  8. 241-AY-102 Leak Detection Pit Drain Line Inspection Report

    International Nuclear Information System (INIS)

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

    2014-01-01

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

  9. 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.

  10. 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.

  11. Inspection planning

    International Nuclear Information System (INIS)

    Korosec, D.; Levstek, M.F.

    2001-01-01

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

  12. 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...

  13. Robot engineering

    International Nuclear Information System (INIS)

    Jung, Seul

    2006-02-01

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

  14. Robot engineering

    Energy Technology Data Exchange (ETDEWEB)

    Jung, Seul

    2006-02-15

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

  15. 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

  16. 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

  17. Inspection vehicle

    International Nuclear Information System (INIS)

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

    1993-01-01

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

  18. 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)

  19. Amooty, a stair climbing intelligent maintenance robot

    International Nuclear Information System (INIS)

    Anon.

    1985-01-01

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

  20. Amooty, a stair climbing intelligent maintenance robot

    Energy Technology Data Exchange (ETDEWEB)

    1985-04-01

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

  1. Snake Robots Modelling, Mechatronics, and Control

    CERN Document Server

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

    2013-01-01

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

  2. Ultrasonic inspection

    International Nuclear Information System (INIS)

    Satittada, Gannaga

    1984-01-01

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

  3. Visual inspection. Better than your eyes

    International Nuclear Information System (INIS)

    Jakobs, N.; Baumgartl, R.

    2005-01-01

    Ongoing improvements in the development of camera technologies and manipulator techniques permit an enhanced performance of inspection tasks in nuclear services. In areas of reduced dose rate it's possible to use small size high resolution CCD cameras instead of tube cameras. Underwater inspections may be performed by submarine instead of rigid manipulator systems. This allows the enlargement of inspection areas and the performance at reduced time and personnel dose rate. (author)

  4. 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.)

  5. 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

  6. 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...

  7. 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.)

  8. 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,

  9. The development of fire detection robot

    OpenAIRE

    Sucuoğlu, Hilmi Saygın

    2015-01-01

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

  10. 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.

  11. Inspection of disposal canisters components

    International Nuclear Information System (INIS)

    Pitkaenen, J.

    2013-12-01

    This report presents the inspection techniques of disposal canister components. Manufacturing methods and a description of the defects related to different manufacturing methods are described briefly. The defect types form a basis for the design of non-destructive testing because the defect types, which occur in the inspected components, affect to choice of inspection methods. The canister components are to nodular cast iron insert, steel lid, lid screw, metal gasket, copper tube with integrated or separate bottom, and copper lid. The inspection of copper material is challenging due to the anisotropic properties of the material and local changes in the grain size of the copper material. The cast iron insert has some acoustical material property variation (attenuation, velocity changes, scattering properties), which make the ultrasonic inspection demanding from calibration point of view. Mainly three different methods are used for inspection. Ultrasonic testing technique is used for inspection of volume, eddy current technique, for copper components only, and visual testing technique are used for inspection of the surface and near surface area

  12. Computerized automated remote inspection system

    International Nuclear Information System (INIS)

    The automated inspection system utilizes a computer to control the location of the ultrasonic transducer, the actual inspection process, the display of the data, and the storage of the data on IBM magnetic tape. This automated inspection equipment provides two major advantages. First, it provides a cost savings, because of the reduced inspection time, made possible by the automation of the data acquisition, processing, and storage equipment. This reduced inspection time is also made possible by a computerized data evaluation aid which speeds data interpretation. In addition, the computer control of the transducer location drive allows the exact duplication of a previously located position or flaw. The second major advantage is that the use of automated inspection equipment also allows a higher-quality inspection, because of the automated data acquisition, processing, and storage. This storage of data, in accurate digital form on IBM magnetic tape, for example, facilitates retrieval for comparison with previous inspection data. The equipment provides a multiplicity of scan data which will provide statistical information on any questionable volume or flaw. An automatic alarm for location of all reportable flaws reduces the probability of operator error. This system has the ability to present data on a cathode ray tube as numerical information, a three-dimensional picture, or ''hard-copy'' sheet. One important advantage of this system is the ability to store large amounts of data in compact magnetic tape reels

  13. 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)

  14. Hospital Inspections

    Data.gov (United States)

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

  15. Evolutionary robotics

    Indian Academy of Sciences (India)

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

  16. Robot Aesthetics

    DEFF Research Database (Denmark)

    Jochum, Elizabeth Ann; Putnam, Lance Jonathan

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

  17. Filigree Robotics

    DEFF Research Database (Denmark)

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

    2016-01-01

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

  18. Tube plug

    International Nuclear Information System (INIS)

    Zafred, P. R.

    1985-01-01

    The tube plug comprises a one piece mechanical plug having one open end and one closed end which is capable of being inserted in a heat exchange tube and internally expanded into contact with the inside surface of the heat exchange tube for preventing flow of a coolant through the heat exchange tube. The tube plug also comprises a groove extending around the outside circumference thereof which has an elastomeric material disposed in the groove for enhancing the seal between the tube plug and the tube

  19. 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

  20. 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.

  1. Gastrostomy Tube (G-Tube)

    Science.gov (United States)

    ... any of these problems: a dislodged tube a blocked or clogged tube any signs of infection (including redness, swelling, or warmth at the tube site; discharge that's yellow, green, or foul-smelling; fever) excessive bleeding or drainage from the tube site severe abdominal pain lasting ...

  2. 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

  3. 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.

  4. Operational inspections

    International Nuclear Information System (INIS)

    Bystersky, M.

    1997-01-01

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

  5. Employing innovative techniques to reduce inspection times

    International Nuclear Information System (INIS)

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

    1997-01-01

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

  6. Robotic environments

    NARCIS (Netherlands)

    Bier, H.H.

    2011-01-01

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

  7. 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)

  8. In service inspection of superphenix 1 vessels: MIR

    International Nuclear Information System (INIS)

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

    1985-02-01

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

  9. Healthcare Robotics

    OpenAIRE

    Riek, Laurel D.

    2017-01-01

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

  10. 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)

  11. Seed-a distributed data base architecture for global management of steam-generator inspection data

    International Nuclear Information System (INIS)

    Soon Ju Kang; Yu Rak Choi; Hee Gon Woo; Seong Su Choi

    1996-01-01

    This paper deals with a data management system - called SEED (Steam-generator Eddy-current Expert Database) for global handling of SG (steam generator) tube inspection data in nuclear power plants. The SEED integrates all stages in SG tube inspection process and supports all data such as raw eddy current data, inspection history data, SG tube information, etc. SEED implemented under client/server computing architecture for supporting LAN/WAN based graphical user interface facilities using WWW programming tools. (author)

  12. Industrial Robots.

    Science.gov (United States)

    Reed, Dean; Harden, Thomas K.

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

  13. Visual servo simulation of EAST articulated maintenance arm robot

    Energy Technology Data Exchange (ETDEWEB)

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

    2016-03-15

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

  14. Visual servo simulation of EAST articulated maintenance arm robot

    International Nuclear Information System (INIS)

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

    2016-01-01

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

  15. Control of free-flying space robot manipulator systems

    Science.gov (United States)

    Cannon, Robert H., Jr.

    1990-01-01

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

  16. Modular robotic applications in nuclear power plant maintenance

    International Nuclear Information System (INIS)

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

    1996-01-01

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

  17. 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)

  18. Robot Mechanisms

    CERN Document Server

    Lenarcic, Jadran; Stanišić, Michael M

    2013-01-01

    This book provides a comprehensive introduction to the area of robot mechanisms, primarily considering industrial manipulators and humanoid arms. The book is intended for both teaching and self-study. Emphasis is given to the fundamentals of kinematic analysis and the design of robot mechanisms. The coverage of topics is untypical. The focus is on robot kinematics. The book creates a balance between theoretical and practical aspects in the development and application of robot mechanisms, and includes the latest achievements and trends in robot science and technology.

  19. 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

  20. 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

  1. 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.

  2. 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.

  3. Robot Futures

    DEFF Research Database (Denmark)

    Christoffersen, Anja; Grindsted Nielsen, Sally; Jochum, Elizabeth Ann

    Robots are increasingly used in health care settings, e.g., as homecare assistants and personal companions. One challenge for personal robots in the home is acceptance. We describe an innovative approach to influencing the acceptance of care robots using theatrical performance. Live performance...... is a useful testbed for developing and evaluating what makes robots expressive; it is also a useful platform for designing robot behaviors and dialogue that result in believable characters. Therefore theatre is a valuable testbed for studying human-robot interaction (HRI). We investigate how audiences...... perceive social robots interacting with humans in a future care scenario through a scripted performance. We discuss our methods and initial findings, and outline future work....

  4. Robotics education

    International Nuclear Information System (INIS)

    Benton, O.

    1984-01-01

    Robotics education courses are rapidly spreading throughout the nation's colleges and universities. Engineering schools are offering robotics courses as part of their mechanical or manufacturing engineering degree program. Two year colleges are developing an Associate Degree in robotics. In addition to regular courses, colleges are offering seminars in robotics and related fields. These seminars draw excellent participation at costs running up to $200 per day for each participant. The last one drew 275 people from Texas to Virginia. Seminars are also offered by trade associations, private consulting firms, and robot vendors. IBM, for example, has the Robotic Assembly Institute in Boca Raton and charges about $1,000 per week for course. This is basically for owners of IBM robots. Education (and training) can be as short as one day or as long as two years. Here is the educational pattern that is developing now

  5. Procedure and device for extracting the end of a tube inserted into a hole in a tube plate

    International Nuclear Information System (INIS)

    1980-01-01

    When constructing heat exchangers and steam generators, particularly in the construction of steam generators for nuclear power stations, many small diameter tubes have to be secured into a very thick tube plate for instance 600 mm thick. This crimping or expanding of the tube is generally performed by rolling the internal surface of the tube inside a hole drilled right through the tube plate and slightly greater in diameter than the external diameter of the tube before the tube is rolled. To check the tubes for defects, it is necessary to extract certain tubes from the tube plate in order to move the tube to a testing and inspection point and examine the part of it that was secured in the plate hole. The invention concerns the uncrimping of these tubes [fr

  6. Robotics research in Chile

    Directory of Open Access Journals (Sweden)

    Javier Ruiz-del-Solar

    2016-12-01

    Full Text Available The development of research in robotics in a developing country is a challenging task. Factors such as low research funds, low trust from local companies and the government, and a small number of qualified researchers hinder the development of strong, local research groups. In this article, and as a case of study, we present our research group in robotics at the Advanced Mining Technology Center of the Universidad de Chile, and the way in which we have addressed these challenges. In 2008, we decided to focus our research efforts in mining, which is the main industry in Chile. We observed that this industry has needs in terms of safety, productivity, operational continuity, and environmental care. All these needs could be addressed with robotics and automation technology. In a first stage, we concentrate ourselves in building capabilities in field robotics, starting with the automation of a commercial vehicle. An important outcome of this project was the earn of the local mining industry confidence. Then, in a second stage started in 2012, we began working with the local mining industry in technological projects. In this article, we describe three of the technological projects that we have developed with industry support: (i an autonomous vehicle for mining environments without global positioning system coverage; (ii the inspection of the irrigation flow in heap leach piles using unmanned aerial vehicles and thermal cameras; and (iii an enhanced vision system for vehicle teleoperation in adverse climatic conditions.

  7. Assessment and management of ageing of major nuclear power plant components important to safety: CANDU pressure tubes

    International Nuclear Information System (INIS)

    1998-08-01

    The report documents the current practices for assessment and management of the ageing of the pressure tubes in CANDU reactors and Indian PHWTRs. Chapter headings are: fuel channel and pressure tube description, design basis for the fuel channel and pressure tube, degradation mechanisms and ageing concerns for pressure tubes, inspection and monitoring methods for pressure tubes,assessment methods and fitness-for-service guidelines for pressure tubes, mitigation methods for pressure tubes, and pressure tube ageing management programme

  8. Autonomous flying robots

    CERN Document Server

    Nonami, Kenzo; Suzuki, Satoshi; Wang, Wei; Nakazawa, Daisuke

    2010-01-01

    Worldwide demand for robotic aircraft such as unmanned aerial vehicles (UAVs) and micro aerial vehicles (MAVs) is surging. Not only military but especially civil applications are being developed at a rapid pace. Unmanned vehicles offer major advantages when used for aerial surveillance, reconnaissance, and inspection in complex and inhospitable environments. UAVs are better suited for dirty or dangerous missions than manned aircraft and are more cost-effective. UAVs can operate in contaminated environments, for example, and at altitudes both lower and higher than those typically traversed by m

  9. 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...

  10. Robotic buildings(s)

    NARCIS (Netherlands)

    Bier, H.H.

    2014-01-01

    Technological and conceptual advances in fields such as artificial intelligence, robotics, and material science have enabled robotic building to be in the last decade prototypically implemented. In this context, robotic building implies both physically built robotic environments and robotically

  11. 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...

  12. Soft Robotics.

    Science.gov (United States)

    Whitesides, George M

    2018-04-09

    This description of "soft robotics" is not intended to be a conventional review, in the sense of a comprehensive technical summary of a developing field. Rather, its objective is to describe soft robotics as a new field-one that offers opportunities to chemists and materials scientists who like to make "things" and to work with macroscopic objects that move and exert force. It will give one (personal) view of what soft actuators and robots are, and how this class of soft devices fits into the more highly developed field of conventional "hard" robotics. It will also suggest how and why soft robotics is more than simply a minor technical "tweak" on hard robotics and propose a unique role for chemistry, and materials science, in this field. Soft robotics is, at its core, intellectually and technologically different from hard robotics, both because it has different objectives and uses and because it relies on the properties of materials to assume many of the roles played by sensors, actuators, and controllers in hard robotics. © 2018 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim.

  13. 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...

  14. Getting to grips with remote handling and robotics

    Energy Technology Data Exchange (ETDEWEB)

    Mosey, D [Ontario Hydro, Toronto (Canada)

    1984-12-01

    A report on the Canadian Nuclear Society Conference on robotics and remote handling in the nuclear industry, September 1984. Remote handling in reactor operations, particularly in the Candu reactors is discussed, and the costs and benefits of use of remote handling equipment are considered. Steam generator inspection and repair is an area in which practical application of robotic technology has made a major advance.

  15. Aerial service robots: an overview of the AIRobots activity

    NARCIS (Netherlands)

    Marconi, L.; Naldi, R.; Torre, A.; Nikolic, J.; Huerzeler, C.; Caprari, G.; Zwicker, E.; Siciliano, B.; Lippiello, V.; Carloni, Raffaella; Stramigioli, Stefano

    This video paper outlines some of the results achieved during the first two years of the ongoing European project AIRobots (Innovative Aerial Service Robots for Remote Inspection by Contact, www.airobots.eu). Goal of AIRobots is to develop a new generation of aerial service robots capable of

  16. Failure analysis of the boiler water-wall tube

    OpenAIRE

    S.W. Liu; W.Z. Wang; C.J. Liu

    2017-01-01

    Failure analysis of the boiler water-wall tube is presented in this work. In order to examine the causes of failure, various techniques including visual inspection, chemical analysis, optical microscopy, scanning electron microscopy and energy dispersive spectroscopy were carried out. Tube wall thickness measurements were performed on the ruptured tube. The fire-facing side of the tube was observed to have experienced significant wall thinning. The composition of the matrix material of the tu...

  17. Control rod guide tube assemblies

    International Nuclear Information System (INIS)

    Jabsen, F.S.

    1979-01-01

    A nuclear fuel assembly including sleeves telescoped over end portions of control rod guide tubes which bear against internal shoulders of the sleeves. Upper ends of the sleeves protrude beyond a control rod guide tube spider and are locked in place by means of a resilient cellular lattice or lock that is seated in mating grooves in the outer surfaces of the sleeves. A grapple is provided for disengaging the entire lock structure spider and associated washers, springs and a grill from the end of the fuel assembly in order to enable these components to be removed and subsequently replaced on the fuel assembly after inspection and repair. (UK)

  18. Remote inspection system for hazardous sites

    International Nuclear Information System (INIS)

    Redd, J.; Borst, C.; Volz, R.A.; Everett, L.J.

    1999-04-01

    Long term storage of special nuclear materials poses a number of problems. One of these is a need to inspect the items being stored from time to time. Yet the environment is hostile to man, with significant radiation exposure resulting from prolonged presence in the storage facility. This paper describes research to provide a remote inspection capability, which could lead to eliminating the need for humans to enter a nuclear storage facility. While there are many ways in which an RI system might be created, this paper describes the development of a prototype remote inspection system, which utilizes virtual reality technology along with robotics. The purpose of this system is to allow the operator to establish a safe and realistic telepresence in a remote environment. In addition, it was desired that the user interface for the system be as intuitive to use as possible, thus eliminating the need for extensive training. The goal of this system is to provide a robotic platform with two cameras, which are capable of providing accurate and reliable stereographic images of the remote environment. One application for the system is that it might be driven down the corridors of a nuclear storage facility and utilized to inspect the drums inside, all without the need for physical human presence. Thus, it is not a true virtual reality system providing simulated graphics, but rather an augmented reality system, which performs remote inspection of an existing, real environment

  19. Robotics in space-age manufacturing

    Science.gov (United States)

    Jones, Chip

    1991-01-01

    Robotics technologies are developed to improve manufacturing of space hardware. The following applications of robotics are covered: (1) welding for the space shuttle and space station Freedom programs; (2) manipulation of high-pressure water for shuttle solid rocket booster refurbishment; (3) automating the application of insulation materials; (4) precision application of sealants; and (5) automation of inspection procedures. Commercial robots are used for these development programs, but they are teamed with advanced sensors, process controls, and computer simulation to form highly productive manufacturing systems. Many of the technologies are also being actively pursued in private sector manufacturing operations.

  20. AECL experience in fuel channel inspection

    Energy Technology Data Exchange (ETDEWEB)

    Van Drunen, G. [Atomic Energy of Canada Limited, Chalk River, Ontario (Canada); Gunn, R. [Atomic Energy of Canada Limited, Mississauga, Ontario (Canada); Mayo, W.R. [Atomic Energy of Canada Limited, Chalk River, Ontario (Canada); Scott, D.A. [Atomic Energy of Canada Limited, Mississauga, Ontario (Canada)

    1999-06-01

    Inspection of CANDU fuel channels (FC) is performed to ensure safe and economic reactor operation. CANDU reactor FCs have features that make them a unique non-destructive testing (NDT) challenge. The thin, 4 mm pressure-tube wall means flaws down to about 0.1 mm deep must be reliably detected and characterized. This is one to two orders of magnitude smaller than is usually considered of significant concern for steel piping and pressure vessels. A second unique feature is that inspection sensors must operate in the reactor core--often within 20 cm of highly radioactive fuel. Work on inspection of CANDU reactor FCs at AECL dates back over three decades. In that time, AECL staff have provided equipment and conducted or supervised in-service inspections in about 250 FCs, in addition to over 8000 pre-service FCs. These inspections took place at every existing CANDU reactor except those in India and Romania. Early FC inspections focussed on measurement of changes in dimensions (gauging) resulting from exposure to a combination of neutrons, stress and elevated temperature. Expansion of inspection activities to include volumetric inspection (for flaws) started in the mid-1970s with the discovery of delayed hydride cracking in Pickering 3 and 4 rolled joints. Recognition of other types of flaw mechanisms in the 1980s led to further expansion in both pre-service and in-service inspections. These growing requirements, to meet regulatory as well as economic needs, led to the development of a wide spectrum of inspection technology that now includes tests for hydrogen concentration, structural integrity of core components, flaws, and dimensional change. This paper reviews current CANDU reactor FC inspection requirements. The equipment and techniques developed to satisfy these requirements are also described. The paper concludes with a discussion of work in progress in AECL aimed at providing state-of-the-art FC inspection services. (author)

  1. Robotics 101

    Science.gov (United States)

    Sultan, Alan

    2011-01-01

    Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. This article…

  2. Vitruvian Robot

    DEFF Research Database (Denmark)

    Hasse, Cathrine

    2017-01-01

    future. A real version of Ava would not last long in a human world because she is basically a solipsist, who does not really care about humans. She cannot co-create the line humans walk along. The robots created as ‘perfect women’ (sex robots) today are very far from the ideal image of Ava...

  3. Feeding Tubes

    Science.gov (United States)

    ... feeding therapies have been exhausted. Please review product brand and method of placement carefully with your physician ... Total Parenteral Nutrition. Resources: Oley Foundation Feeding Tube Awareness Foundation Children’s Medical Nutrition Alliance APFED’s Educational Webinar ...

  4. Robot Teachers

    DEFF Research Database (Denmark)

    Nørgård, Rikke Toft; Ess, Charles Melvin; Bhroin, Niamh Ni

    The world's first robot teacher, Saya, was introduced to a classroom in Japan in 2009. Saya, had the appearance of a young female teacher. She could express six basic emotions, take the register and shout orders like 'be quiet' (The Guardian, 2009). Since 2009, humanoid robot technologies have...... developed. It is now suggested that robot teachers may become regular features in educational settings, and may even 'take over' from human teachers in ten to fifteen years (cf. Amundsen, 2017 online; Gohd, 2017 online). Designed to look and act like a particular kind of human; robot teachers mediate human...... existence and roles, while also aiming to support education through sophisticated, automated, human-like interaction. Our paper explores the design and existential implications of ARTIE, a robot teacher at Oxford Brookes University (2017, online). Drawing on an initial empirical exploration we propose...

  5. Social Robots

    DEFF Research Database (Denmark)

    Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us as indiv......Social robotics is a cutting edge research area gathering researchers and stakeholders from various disciplines and organizations. The transformational potential that these machines, in the form of, for example, caregiving, entertainment or partner robots, pose to our societies and to us...... as individuals seems to be limited by our technical limitations and phantasy alone. This collection contributes to the field of social robotics by exploring its boundaries from a philosophically informed standpoint. It constructively outlines central potentials and challenges and thereby also provides a stable...

  6. Robotic seeding

    DEFF Research Database (Denmark)

    Pedersen, Søren Marcus; Fountas, Spyros; Sørensen, Claus Aage Grøn

    2017-01-01

    Agricultural robotics has received attention for approximately 20 years, but today there are only a few examples of the application of robots in agricultural practice. The lack of uptake may be (at least partly) because in many cases there is either no compelling economic benefit......, or there is a benefit but it is not recognized. The aim of this chapter is to quantify the economic benefits from the application of agricultural robots under a specific condition where such a benefit is assumed to exist, namely the case of early seeding and re-seeding in sugar beet. With some predefined assumptions...... with regard to speed, capacity and seed mapping, we found that among these two technical systems both early seeding with a small robot and re-seeding using a robot for a smaller part of the field appear to be financially viable solutions in sugar beet production....

  7. Micro intelligence robot

    International Nuclear Information System (INIS)

    Jeon, Yon Ho

    1991-07-01

    This book gives descriptions of micro robot about conception of robots and micro robot, match rules of conference of micro robots, search methods of mazes, and future and prospect of robots. It also explains making and design of 8 beat robot like making technique, software, sensor board circuit, and stepping motor catalog, speedy 3, Mr. Black and Mr. White, making and design of 16 beat robot, such as micro robot artist, Jerry 2 and magic art of shortening distances algorithm of robot simulation.

  8. An Intelligent Robot Programing

    Energy Technology Data Exchange (ETDEWEB)

    Hong, Seong Yong

    2012-01-15

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  9. An Intelligent Robot Programing

    International Nuclear Information System (INIS)

    Hong, Seong Yong

    2012-01-01

    This book introduces an intelligent robot programing with background of the begging, introduction of VPL, and SPL, building of environment for robot platform, starting of robot programing, design of simulation environment, robot autonomy drive control programing, simulation graphic. Such as SPL graphic programing graphical image and graphical shapes, and graphical method application, application of procedure for robot control, robot multiprogramming, robot bumper sensor programing, robot LRF sencor programing and robot color sensor programing.

  10. 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.

  11. 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

  12. Film holder for radiographing tubing

    International Nuclear Information System (INIS)

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

    1976-01-01

    A film cassette is described which may be easily placed about tubing or piping and readily held in place while radiographic inspection is performed. A pair of precurved light-impervious semi-rigid plastic sheets, hinged at one edge, enclose sheet film together with any metallic foils or screens. Other edges are made light-tight with removable caps, and the entire unit is held securely about the object to be radiographed with a releasable fastener such as a strip of Velcro

  13. Film holder for radiographing tubing

    Science.gov (United States)

    Davis, Earl V.; Foster, Billy E.

    1976-01-01

    A film cassette is provided which may be easily placed about tubing or piping and readily held in place while radiographic inspection is performed. A pair of precurved light-impervious semi-rigid plastic sheets, hinged at one edge, enclose sheet film together with any metallic foils or screens. Other edges are made light-tight with removable caps, and the entire unit is held securely about the object to be radiographed with a releasable fastener such as a strip of Velcro.

  14. LHC train control system for autonomous inspections and measurements

    OpenAIRE

    Di Castro, Mario; Baiguera Tambutti, Maria Laura; Gilardoni, Simone; Losito, Roberto; Lunghi, Giacomo; Masi, Alessandro

    2018-01-01

    Intelligent robotic systems are becoming essential for inspection and measurements in harsh environments, such as the European Organization for Nuclear Research (CERN) accelerators complex. Aiming at increasing safety and machine availability, robots can help to perform repetitive or dangerous tasks, reducing the risk for the personnel as the exposure to radiation. The Large Hadron Collider (LHC) tunnel at CERN has been equipped with fail-safe trains on monorail able to perform autonomously d...

  15. 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.

  16. 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.

  17. 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

  18. 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

  19. Laboratory robotics projects in the Analytical Development Division at the Savannah River Laboratory

    International Nuclear Information System (INIS)

    Lien, O.G.; Steele, A.W.

    1986-01-01

    To encourage the application of robotics technology for routine radiobench applications, a laboratory dedicated to the research and development of contained robotic systems is being constructed. The facility will have several robots located in laminar flow hoods, and the hoods are being designed to allow the possibility for multiple robots to work together. This paper presents both the design features of the hoods and the general layout of the laboratory, and also discusses an application of a robotic system for the routine nuclear counting of gamma tube samples. The gamma tube system is presently operating in one of the routine analysis laboratories. 5 figs

  20. Steam generator tube extraction

    International Nuclear Information System (INIS)

    Delorme, H.

    1985-05-01

    To enable tube examination on steam generators in service, Framatome has now developed a process for removing sections of steam generator tubes. Tube sections can be removed without being damaged for treating the tube section expanded in the tube sheet

  1. 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

  2. Studies on defect detectability in banded stainless steel tubes

    International Nuclear Information System (INIS)

    Shyamsunder, M.T.; Rao, B.P.C.; Babu Rao, C.; Jayakumar, T.; Kalyanasundaram, P.; Baldev Raj

    1996-01-01

    During inspection of one batch of stainless steel cladding tubes, a few of the tubes gave rise to continuous large amplitude indications throughout the length of the tube. It was observed that the presence of any defects in such tubes would be impossible to detect, due to the poor signal-to-noise ratio. Detailed investigations regarding the surface profile of the tubes were carried out using a novel technique called the projected interferometry method revealed periodic diametral variations and the same were further confirmed by cross sectional profiling. The feasibility of detecting defects in such banded tubes, using eddy current testing were carried out on tubes with artificial defects. This paper discusses the use of three different eddy current methods and their relative performances for inspection. The specific advantages of the phased array eddy current testing method in unambiguous defect detection in situations similar to the one encountered during the present investigations are also discussed. (author)

  3. Approaches to probabilistic model learning for mobile manipulation robots

    CERN Document Server

    Sturm, Jürgen

    2013-01-01

    Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. Examples include domestic service robots that implement large parts of the housework, and versatile industrial assistants that provide automation, transportation, inspection, and monitoring services. The challenge in these applications is that the robots have to function under changing, real-world conditions, be able to deal with considerable amounts of noise and uncertainty, and operate without the supervision of an expert. This book presents novel learning techniques that enable mobile manipulation robots, i.e., mobile platforms with one or more robotic manipulators, to autonomously adapt to new or changing situations. The approaches presented in this book cover the following topics: (1) learning the robot's kinematic structure and properties using actuation and visual feedback, (2) learning about articulated objects in the environment in which the robot is operating,...

  4. Wireless Communication Enhancement Methods for Mobile Robots in Radiation Environments

    CERN Document Server

    Nattanmai Parasuraman, Ramviyas; Ferre, Manuel

    In hostile environments such as in scientific facilities where ionising radiation is a dominant hazard, reducing human interventions by increasing robotic operations are desirable. CERN, the European Organization for Nuclear Research, has around 50 km of underground scientific facilities, where wireless mobile robots could help in the operation of the accelerator complex, e.g. in conducting remote inspections and radiation surveys in different areas. The main challenges to be considered here are not only that the robots should be able to go over long distances and operate for relatively long periods, but also the underground tunnel environment, the possible presence of electromagnetic fields, radiation effects, and the fact that the robots shall in no way interrupt the operation of the accelerators. Having a reliable and robust wireless communication system is essential for successful execution of such robotic missions and to avoid situations of manual recovery of the robots in the event that the robot runs ...

  5. Semi-automatic ultrasonic inspection of PWR upper internal immersed components

    International Nuclear Information System (INIS)

    Dombret, P.; Coquette, A.; Cermak, J.; Verspeelt, D.

    1985-01-01

    The present paper describes the characteristics of a semi-automatic ultrasonic inspection system. Components inspected are the so-called flexures, small pins located at the upper part of control rod tube-guide, some of which happened to broke in a few Westinghouse type PWR's. Inspection results and other system capabilities are also mentioned

  6. 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.

  7. 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.

  8. Space Robotics Challenge

    Data.gov (United States)

    National Aeronautics and Space Administration — The Space Robotics Challenge seeks to infuse robot autonomy from the best and brightest research groups in the robotics community into NASA robots for future...

  9. Robotic surgery

    Science.gov (United States)

    ... with this type of surgery give it some advantages over standard endoscopic techniques. The surgeon can make ... Elsevier Saunders; 2015:chap 87. Muller CL, Fried GM. Emerging technology in surgery: Informatics, electronics, robotics. In: ...

  10. Robotic parathyroidectomy.

    Science.gov (United States)

    Okoh, Alexis Kofi; Sound, Sara; Berber, Eren

    2015-09-01

    Robotic parathyroidectomy has recently been described. Although the procedure eliminates the neck scar, it is technically more demanding than the conventional approaches. This report is a review of the patients' selection criteria, technique, and outcomes. © 2015 Wiley Periodicals, Inc.

  11. Light Robotics

    DEFF Research Database (Denmark)

    Glückstad, Jesper; Palima, Darwin

    Light Robotics - Structure-Mediated Nanobiophotonics covers the latest means of sculpting of both light and matter for achieving bioprobing and manipulation at the smallest scales. The synergy between photonics, nanotechnology and biotechnology spans the rapidly growing field of nanobiophotonics...

  12. 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.

  13. Recent advances in robotics

    International Nuclear Information System (INIS)

    Beni, G.; Hackwood, S.

    1984-01-01

    Featuring 10 contributions, this volume offers a state-of-the-art report on robotic science and technology. It covers robots in modern industry, robotic control to help the disabled, kinematics and dynamics, six-legged walking robots, a vector analysis of robot manipulators, tactile sensing in robots, and more

  14. A survey report for the turning of biped locomotion robot

    International Nuclear Information System (INIS)

    Kato, Ichiro; Takanishi, Atsuo; Kume, Etsuo.

    1992-12-01

    A mechanical design study of biped locomotion robots is going on at JAERI within the scope of the Human Acts Simulation Program (HASP). The design study at JAERI is of an arbitrarily mobile robot for inspection of nuclear facilities. A survey has been performed for collecting useful information from already existing biped locomotion robots. This is a survey report for the turning of biped locomotion robot: the WL-10R designed and developed at Waseda University. This report includes the control method of turning, machine model and control system. (author)

  15. Future of robots in nuclear plants and processes

    International Nuclear Information System (INIS)

    Fisher, J.J.; Byrd, J.S.

    1985-01-01

    The role of robotics at the Savannah River Plant and Laboratory is reviewed. The site's remote process areas are described briefly, and existing remote handling equipment and robots are discussed. Three technology areas under development and relating to process automation are reviewed. These are: inspection systems to detect and evaluate process problems or to determine equipment integrity, process monitoring systems to analyze plant operations and to supply information in the event of an unusual occurrence, and remote manipulator systems and controls to handle instruments and tools. A technique is presented for employing future intelligent robots through process networks. These networks will represent the integration of robotic technology with dedicated process knowledge bases

  16. Additive Manufacturing Infrared Inspection

    Science.gov (United States)

    Gaddy, Darrell; Nettles, Mindy

    2015-01-01

    The Additive Manufacturing Infrared Inspection Task started the development of a real-time dimensional inspection technique and digital quality record for the additive manufacturing process using infrared camera imaging and processing techniques. This project will benefit additive manufacturing by providing real-time inspection of internal geometry that is not currently possible and reduce the time and cost of additive manufactured parts with automated real-time dimensional inspections which deletes post-production inspections.

  17. Ear Tubes

    Science.gov (United States)

    ... of the ear drum or eustachian tube, Down Syndrome, cleft palate, and barotrauma (injury to the middle ear caused by a reduction of air pressure, ... specialist) may be warranted if you or your child has experienced repeated ... fluid in the middle ear, barotrauma, or have an anatomic abnormality that ...

  18. 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.

  19. 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”.

  20. Soft Robotics Week

    CERN Document Server

    Rossiter, Jonathan; Iida, Fumiya; Cianchetti, Matteo; Margheri, Laura

    2017-01-01

    This book offers a comprehensive, timely snapshot of current research, technologies and applications of soft robotics. The different chapters, written by international experts across multiple fields of soft robotics, cover innovative systems and technologies for soft robot legged locomotion, soft robot manipulation, underwater soft robotics, biomimetic soft robotic platforms, plant-inspired soft robots, flying soft robots, soft robotics in surgery, as well as methods for their modeling and control. Based on the results of the second edition of the Soft Robotics Week, held on April 25 – 30, 2016, in Livorno, Italy, the book reports on the major research lines and novel technologies presented and discussed during the event.