larob: laser-guided underwater mobile robot for reactor vessel inspection
DESCRIPTION
ieee paper.roboticsTRANSCRIPT
04/13/2023 1LAROB B.TECH. SEMINAR
Motivation ?
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Laser-Guided Underwater Mobile Robot for Reactor Vessel
Inspection (LAROB)PRESENTED BY:
JOBIN JOSE
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Introduction
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Robotic technology in industries.
What is the reason?
How does they work?
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Relevance of topic◦ Increasing power plants.◦ Increasing underground wirings.◦ To perform automated and repetitive work.◦ Safety of workers and regulation.◦ Risk free.◦ Profitibility
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History◦ SIMON -Developed in 1990.◦ MACS -Developed in 1996.◦ UBIB -Developed 1996.◦ ARIES -Developed in 1999◦ A-UT -Developed by Mitsubishi heavy industry◦ URSULA -Developed by Framatome◦ Ball shaped robot - Developed by Massachuttus Institute of Technology.
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Challenges
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1. Huge size and weight
2. Difficulty in transportation
3. Inaccuracy in positioning
4. Difficulty in movement
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NEW SYSTEM◦ Laser-guided reactor inspection robot (LAROB)◦ Laser pointing device◦ A main control computer◦ A sonic data processing system
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A. Reactor inspection robot (LAROB)
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Submarine type mobile robot
Less weight (40 kg)
Have 4 magnetic wheels(dc servo motors)
Parallelogram links
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Cont… Light and long manipulator
Position sensitive detector (PSD)
Inclinometer
Centre frame
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B . Laser pointing device Fixed at the middle of crossbeam
Has beam emitter
Emits laser beam to next position
PSD detects
Pan tilt device
Covered by hemispherical plastic cap
Cable handling function
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C . Main control computer Controls LAROB , laser pointer and the sonic data processing system.
PC based control station.
Operating software and graphical user interface.
Automatically generates the path for LAROB.
Scanned data is stored.
Gives out detailed reports and graphs.
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Robot control Desired position and direction must be achieved
Sum and difference of velocities of left and right wheels
PSD controller
ex = 0, ey = 0. (1)
vc = Kpy ey + Kdy e˙y (2)
Φ˙ = (Kpx ex + Kdx e˙x )/L (3)
Kij-control gain
L-length between the robot center and each wheel
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Inspection procedure Checking the welds
Ultrasonic testing
Ultrasonic wave is emitted
Reflected wave is collected
Analyzed in main control computer
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Drawbacks◦ Cabling◦ Hides the laser beam from reaching the PSD
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Future scope◦ Submarine maintenance◦ Ship maintenance
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ConclusionImproved conventional reactor vessel inspection system.
Size is minimized
Handling capacity is increased
Positioning of the robot is improved
Detailed results and graph is obtained
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References◦ IEEE base paper “Laser-Guided Underwater Mobile Robot for Reactor Vessel Inspection (LAROB)”◦ D. Sands, “Cost effective robotics in the nuclear industry,” Ind. Robot,33, no. 3, pp. 170–173, 2006.◦ Wikipedia – robotics,
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Thank you…….