2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)最新文献_第3页

Redesign of a scanner for EC- and UT-measurements in the central bores of large rotors in power plants — With focus on an electromechanically actuated leg-unit for passing steps in bottle-bores without using pneumatic actuation 重新设计用于发电厂大型转子中心孔中EC和ut测量的扫描仪-重点是用于在不使用气动驱动的情况下通过瓶孔中的步骤的机电驱动腿单元

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473350

W. Fischer, D. Loosli, C. Udell

引用次数: 0

An adaptable and self-calibrating service robotic scanner for ultrasonic inspection of nuclear nozzle-vessel welds 一种自适应、自校准的用于核喷嘴容器焊缝超声检测的服务机器人扫描仪

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473363

V. Papadimitriou, I. Roditis, P. Chatzakos, D. Liaptsis

{"title":"An adaptable and self-calibrating service robotic scanner for ultrasonic inspection of nuclear nozzle-vessel welds","authors":"V. Papadimitriou, I. Roditis, P. Chatzakos, D. Liaptsis","doi":"10.1109/CARPI.2012.6473363","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473363","url":null,"abstract":"In this paper the development of a robotic scanner for non destructive inspection of the nozzle to vessel weld of Boiling Water Reactors (BWR) nuclear power plant reactors is presented. The scanner carries and deploys a specially designed ultrasonic (UT) 2D matrix phased array probe. The 3 degrees of freedom (d.o.f.) robotic scanner is mounted on the nozzle and drives the UT probe over selected areas above the weld on the vessel at predefined paths, via a 2-link manipulator mounted on a carriage, sliding on a precision 360 degrees circular ring. The system is controlled using hybrid position-force control for 3D trajectory tracking. The scanner's novelty lies in the very low setup time needed by operators, but mainly in its self-calibration capability by utilizing a variety of sensors, drastically minimizing the operators' exposure to nuclear radiation. Moreover, it is able to fit on nozzles of various diameters, as well as to operate on non-vertically nozzles welded on the vessel. The UT probe was designed to electronically steer its beam between 35 to 80 degrees and achieve electronic skewing between ±10 degrees for improved detection capabilities of the inspection technique. The developed 2D matrix phased array probe is positioned in a local immersion bath and combined with a flexible membrane front, complying on any curvature variations along the nozzle circumference. The performance of the prototype was successfully validated on a replica of a nuclear power plant nozzle.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129838268","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Automated boiler wall cleaning and inspection 锅炉壁的自动清洗和检查

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473368

W. Zesch, S. Honold, P. Roth, V. de Vries

{"title":"Automated boiler wall cleaning and inspection","authors":"W. Zesch, S. Honold, P. Roth, V. de Vries","doi":"10.1109/CARPI.2012.6473368","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473368","url":null,"abstract":"Power plant boilers need to be cleaned and inspected on a regular basis. Boiler chambers can be up to 50m high requiring scaffolding for all works on the water walls. The scaffolding itself can take several weeks. To overcome the disadvantage of the time consuming scaffolding work an automated boiler wall crawler for wall cleaning and inspection is being developed by Alstom in collaboration with Alstom Inspection Robotics and Waterjet Technologies. The automated system will be able to drive up the water wall with the cleaning or inspection application integrated and no scaffolding will be required anymore. The cleaning application consists of a patented suspension cleaning technology where abrasive and water are mixed and pumped up to a defined pressure. The inspection will be done using latest ultrasonic technology to measure remaining wall thicknesses of the tubes. The deployment system consists of two magnetic track drives connected by a frame and two passive magnetic wheels. Laboratory tests have shown promising results. The system is able to drive up and down the water wall during the cleaning with the system running at around 100 bar.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134407432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

A survey of applied robotics for the power industry in Brazil 巴西电力工业应用机器人调查

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473375

W. F. Lages, V. D. de Oliveira

引用次数: 3

Support of power plant telemaintenance with robots by Augmented Reality methods 利用增强现实技术支持机器人进行电厂远程维护

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473362

Florian Leutert, K. Schilling

引用次数: 7

Results of a testing campaign of the telerobotic system MT200-TAO in AREVA La Hague's hot-cells 远程机器人系统MT200-TAO在阿海珐热室的测试结果

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473378

G. Piolain, A. Freudenreich, P. Monthel, M. Brudieu, F. Geffard, P. Garrec

引用次数: 1

Obstacle avoidance for a power line inspection robot 电力线巡检机器人避障研究

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473377

Tim Rowell, E. Boje

引用次数: 10

Robotic refurbishment of a spherical valve 球阀的机器人翻新

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473369

B. Hazel, Jean-Luc Bedwani, Y. Laroche, E. Lavalle, P. Mongenot, T. Bedard-T, L. Lavoie, J. Gagne

引用次数: 1

A simple robot manipulator able to negotiate power line hardware 一个简单的机器人机械手，能够协商电源线的硬件

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473376

T. Lorimer, E. Boje

引用次数: 19

Pole type robot for distribution power line inspection 配电线路巡检用杆式机器人

2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI) Pub Date : 2012-09-01 DOI: 10.1109/CARPI.2012.6473360

V. Finotto, O. Horikawa, A. Hirakawa, A. C. Filho

{"title":"Pole type robot for distribution power line inspection","authors":"V. Finotto, O. Horikawa, A. Hirakawa, A. C. Filho","doi":"10.1109/CARPI.2012.6473360","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473360","url":null,"abstract":"The inspection of overhead distribution power lines involves high risk of accidents, leading to a time consuming and costly operation which demands strict standardized procedures. Current inspection techniques are either performed from ground level giving the operator a limited view of components, or by the use of ladders which is also a risk task. In recent years, the use of mobile robots for automated power line inspection has been proposed. However, the difficulties in controlling them and the lack of standardization of the distribution network, hinder the practical use of such approaches. In this sense, a lightweight, portable, and flexible robotic manipulator, made of insulated material is proposed. Design requirements that come from the service environment demand the capability of reaching over 9-meter heights for positioning the measurement system in high positions. Using the proposed robot, the operator is able to perform inspection from ground level, thereby increasing efficiency and safety. In addition, this paper presents a prototype of the developed robot and experimental results indicating the viability of the strategy.","PeriodicalId":393732,"journal":{"name":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128021746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5