Control System for Reactor Vessel Inspection Manipulator (CROSBI ID 553961)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Mutka, Alan ; Draganjac, Ivica ; Kovačić, Zdenko ; Postružin, Željko ; Munk, Ranko
engleski
Control System for Reactor Vessel Inspection Manipulator
In this paper a system for control and 3D visualization of a manipulator for weld inspection of nuclear reactor vessels is described. Based on a client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. In addition, the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.
Reactor vessel; inspection; manipulator; control
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Podaci o prilogu
1312-1318.
2009.
objavljeno
Podaci o matičnoj publikaciji
Sankt Peterburg: Institute of Electrical and Electronics Engineers (IEEE)
978-1-4244-4602-5
Podaci o skupu
The 3rd IEEE Multi-conference on Systems and Control
predavanje
08.07.2009-10.07.2009
Sankt Peterburg, Ruska Federacija