Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473367
V. de Vries, S. Honold, P. Roth
After a long operation time, steam turbine blades need to be removed, inspected and/or replaced. Numerous steam turbine fleets have blades that are attached to the rotor discs by the means of pins. At the time being, the pins are removed using a hydraulic jack. Roughly 10% of the pins of steam turbine rotor need to be drilled out due to strains and deformation of the pin. The drilling process is very time consuming and implicates a high risk of damaging the disc. From 2008 to 2010 ALSTOM has developed a system for steam turbine pin removal using the abrasive water jet cutting technology with respect to the geometrical and process requirements. In 2010 this system was redesigned and a Mark II built, tested and used under real conditions in special service applications during the last two years. Promising results have been achieved regarding process speed and process quality during these applications.
{"title":"Automated abrasive water jet pin cutting system — Mark II","authors":"V. de Vries, S. Honold, P. Roth","doi":"10.1109/CARPI.2012.6473367","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473367","url":null,"abstract":"After a long operation time, steam turbine blades need to be removed, inspected and/or replaced. Numerous steam turbine fleets have blades that are attached to the rotor discs by the means of pins. At the time being, the pins are removed using a hydraulic jack. Roughly 10% of the pins of steam turbine rotor need to be drilled out due to strains and deformation of the pin. The drilling process is very time consuming and implicates a high risk of damaging the disc. From 2008 to 2010 ALSTOM has developed a system for steam turbine pin removal using the abrasive water jet cutting technology with respect to the geometrical and process requirements. In 2010 this system was redesigned and a Mark II built, tested and used under real conditions in special service applications during the last two years. Promising results have been achieved regarding process speed and process quality during these applications.","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":"129149434","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473344
J. Allan
This paper presents a review of state-of-the-art robotics systems developed or in use on overhead/underground power distribution lines in the past decade. It covers only those robotic applications that are designed for use on the distribution network, that is, any part of the power system located between the transmission lines/substations (transmission network) and the end users. The first part of the paper discusses robots for overhead distribution lines, while the second section focuses on underground lines. The author concludes with a discussion on robotics related to distribution lines in general.
{"title":"Robotics for distribution power lines: Overview of the last decade","authors":"J. Allan","doi":"10.1109/CARPI.2012.6473344","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473344","url":null,"abstract":"This paper presents a review of state-of-the-art robotics systems developed or in use on overhead/underground power distribution lines in the past decade. It covers only those robotic applications that are designed for use on the distribution network, that is, any part of the power system located between the transmission lines/substations (transmission network) and the end users. The first part of the paper discusses robots for overhead distribution lines, while the second section focuses on underground lines. The author concludes with a discussion on robotics related to distribution lines in general.","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":"124189593","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473373
J. Iqbal, A. M. Tahir, Raza ul Islam, Riaz-un-Nabi
Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate artificial intelligence, improved sensors capability, enhanced data fusion and compliant human like leg and hand structures for efficient motions. Next generation robotic systems in NPPs are expected to work in full autonomous mode in contrast to the current semi-autonomous scenarios. Far future systems could deploy humanoid robots as well. This paper presents state-of-the-art of robotics developed for NPPs, associated challenges and finally comments on future directions.
{"title":"Robotics for Nuclear Power Plants — Challenges and future perspectives","authors":"J. Iqbal, A. M. Tahir, Raza ul Islam, Riaz-un-Nabi","doi":"10.1109/CARPI.2012.6473373","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473373","url":null,"abstract":"Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate artificial intelligence, improved sensors capability, enhanced data fusion and compliant human like leg and hand structures for efficient motions. Next generation robotic systems in NPPs are expected to work in full autonomous mode in contrast to the current semi-autonomous scenarios. Far future systems could deploy humanoid robots as well. This paper presents state-of-the-art of robotics developed for NPPs, associated challenges and finally comments on future directions.","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":"128501059","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473351
O. Netland, A. Skavhaug
A telerobot can be used for inspection at a location far from where its user is, i.e. remote inspection. This paper presents the design and implementation of a lab for evaluation of remote inspection, consisting of a telerobot prototype and an environment for it to operate in. Remote inspection can be used in many industries, but we argue that it is especially suitable for offshore wind turbines, since these are large, unmanned and complicated machines at difficult to reach locations. Remote inspection of offshore wind turbines has the potential to reduce the maintenance cost, increase the knowledge of the turbines' condition and the predictability of maintenance. The typical user of remote inspection is expected to have expertise in maintenance, not robotics. Therefore we suggest evaluating remote inspection using usability tests, which consider how easy it is to learn, and use a system for its intended purpose.
{"title":"Prototyping and evaluation of a telerobot for remote inspection of offshore wind farms","authors":"O. Netland, A. Skavhaug","doi":"10.1109/CARPI.2012.6473351","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473351","url":null,"abstract":"A telerobot can be used for inspection at a location far from where its user is, i.e. remote inspection. This paper presents the design and implementation of a lab for evaluation of remote inspection, consisting of a telerobot prototype and an environment for it to operate in. Remote inspection can be used in many industries, but we argue that it is especially suitable for offshore wind turbines, since these are large, unmanned and complicated machines at difficult to reach locations. Remote inspection of offshore wind turbines has the potential to reduce the maintenance cost, increase the knowledge of the turbines' condition and the predictability of maintenance. The typical user of remote inspection is expected to have expertise in maintenance, not robotics. Therefore we suggest evaluating remote inspection using usability tests, which consider how easy it is to learn, and use a system for its intended purpose.","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":"121602932","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473374
M. Burri, J. Nikolic, C. Hurzeler, G. Caprari, R. Siegwart
This work focuses on the use of MAVs for industrial inspection tasks. An efficient flight controller based on a model predictive control paradigm is developed. It allows for agile maneuvers in confined spaces while incorporating delays, saturations and inaccurate vehicle state estimates only available at low rate. The fast gradient method is used to solve the optimization problem and meet real-time constraints, given limited computational resources. The vehicle state is estimated from an on-board forward-looking camera system, tightly fused with inertial measurements. Experiments using a realistic industrial mock environment demonstrate the effectiveness, robustness and limitations of the proposed approach. The results show that egomotion estimation is robust under rapid motion, in poorly textured environments and under challenging lighting conditions. When coupled with the model predictive controller, the system requires only limited computational resources and sufficiently tracks an arbitrary trajectory.
{"title":"Aerial service robots for visual inspection of thermal power plant boiler systems","authors":"M. Burri, J. Nikolic, C. Hurzeler, G. Caprari, R. Siegwart","doi":"10.1109/CARPI.2012.6473374","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473374","url":null,"abstract":"This work focuses on the use of MAVs for industrial inspection tasks. An efficient flight controller based on a model predictive control paradigm is developed. It allows for agile maneuvers in confined spaces while incorporating delays, saturations and inaccurate vehicle state estimates only available at low rate. The fast gradient method is used to solve the optimization problem and meet real-time constraints, given limited computational resources. The vehicle state is estimated from an on-board forward-looking camera system, tightly fused with inertial measurements. Experiments using a realistic industrial mock environment demonstrate the effectiveness, robustness and limitations of the proposed approach. The results show that egomotion estimation is robust under rapid motion, in poorly textured environments and under challenging lighting conditions. When coupled with the model predictive controller, the system requires only limited computational resources and sufficiently tracks an arbitrary trajectory.","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":"134292516","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473348
Yuee Liu, L. Mejias
In this paper a real-time vision based power line extraction solution is investigated for active UAV guidance. The line extraction algorithm starts from ridge points detected by steerable filters. A collinear line segments fitting algorithm is followed up by considering global and local information together with multiple collinear measurements. GPU boosted algorithm implementation is also investigated in the experiment. The experimental result shows that the proposed algorithm outperforms two baseline line detection algorithms and is able to fitting long collinear line segments. The low computational cost of the algorithm make suitable for real-time applications.
{"title":"Real-time power line extraction from Unmanned Aerial System video images","authors":"Yuee Liu, L. Mejias","doi":"10.1109/CARPI.2012.6473348","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473348","url":null,"abstract":"In this paper a real-time vision based power line extraction solution is investigated for active UAV guidance. The line extraction algorithm starts from ridge points detected by steerable filters. A collinear line segments fitting algorithm is followed up by considering global and local information together with multiple collinear measurements. GPU boosted algorithm implementation is also investigated in the experiment. The experimental result shows that the proposed algorithm outperforms two baseline line detection algorithms and is able to fitting long collinear line segments. The low computational cost of the algorithm make suitable for real-time applications.","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":"132581036","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473371
C. Huerzeler, G. Caprari, E. Zwicker, L. Marconi
This paper collects and analyzes a list of application scenarios for inspections of power generation and petrochemical processing facilities using unmanned aerial vehicles. Based on this list of applications, general requirements for future aerial inspection robots are derived to serve as potential benchmarks for further research and development in this field. In this context the paper also discusses the need for unmanned aerial vehicles not only capable of pure visual inspections but also providing the means for inspection by contact.
{"title":"Applying aerial robotics for inspections of power and petrochemical facilities","authors":"C. Huerzeler, G. Caprari, E. Zwicker, L. Marconi","doi":"10.1109/CARPI.2012.6473371","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473371","url":null,"abstract":"This paper collects and analyzes a list of application scenarios for inspections of power generation and petrochemical processing facilities using unmanned aerial vehicles. Based on this list of applications, general requirements for future aerial inspection robots are derived to serve as potential benchmarks for further research and development in this field. In this context the paper also discusses the need for unmanned aerial vehicles not only capable of pure visual inspections but also providing the means for inspection by contact.","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":"130083495","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473349
R. Fischer, W. Fischer, S. Honold, D. Loosli
The `DIRIS' Class of in-situ generator inspection systems were developed to assess the health of generator stators through the use of highly specialized and cost-effective robots. The latest member of `DIRIS' class is the `DIRIS small' robot. Like all preceding developments, the development of the new `DIRIS' robot extents the assessable fleet of generator types. Due to the miniaturization of the `DIRIS small' generators below 300 MW output can be inspected now. The generator output range between 50 and 300 MW is the largest fleet within Alstom. But still generators with perpendicular obstructions like cooling deflectors cannot be assessed entirely. Therefore the development of a new robot the `DIRIS Ray' is initiated to overcome this last flow by providing a greater maneuverability.
{"title":"The ‘DIRIS’ Class of in-situ generator inspection systems","authors":"R. Fischer, W. Fischer, S. Honold, D. Loosli","doi":"10.1109/CARPI.2012.6473349","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473349","url":null,"abstract":"The `DIRIS' Class of in-situ generator inspection systems were developed to assess the health of generator stators through the use of highly specialized and cost-effective robots. The latest member of `DIRIS' class is the `DIRIS small' robot. Like all preceding developments, the development of the new `DIRIS' robot extents the assessable fleet of generator types. Due to the miniaturization of the `DIRIS small' generators below 300 MW output can be inspected now. The generator output range between 50 and 300 MW is the largest fleet within Alstom. But still generators with perpendicular obstructions like cooling deflectors cannot be assessed entirely. Therefore the development of a new robot the `DIRIS Ray' is initiated to overcome this last flow by providing a greater maneuverability.","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":"127678512","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473340
D. Marinceu, A. Murchison, C. Hatton
The methodology and processes used to select and design robotic equipment for use in a Canadian Used (Nuclear) Fuel Packing Plant (UFPP) are presented. The application of these methods is illustrated using, as an example, the selection and design of equipment for a Laser Welding Cell. The analysis indicates that both robots and manipulators are expected to be used in the Canadian UFPP. The described conceptual designs illustrate how nuclear safety considerations may influence the plant layout and configuration as well as robot/manipulator selection. The UFPP design will incorporate redundancy of all equipment to allow expedient recovery from any postulated upset conditions. Overall, the evaluation suggests that robot usage will have a significant positive impact on nuclear safety, quality, productivity and reliability.
{"title":"Use of robotic equipment in a Canadian Used Nuclear Fuel Packing Plant","authors":"D. Marinceu, A. Murchison, C. Hatton","doi":"10.1109/CARPI.2012.6473340","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473340","url":null,"abstract":"The methodology and processes used to select and design robotic equipment for use in a Canadian Used (Nuclear) Fuel Packing Plant (UFPP) are presented. The application of these methods is illustrated using, as an example, the selection and design of equipment for a Laser Welding Cell. The analysis indicates that both robots and manipulators are expected to be used in the Canadian UFPP. The described conceptual designs illustrate how nuclear safety considerations may influence the plant layout and configuration as well as robot/manipulator selection. The UFPP design will incorporate redundancy of all equipment to allow expedient recovery from any postulated upset conditions. Overall, the evaluation suggests that robot usage will have a significant positive impact on nuclear safety, quality, productivity and reliability.","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":"131270429","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}
Pub Date : 2012-09-01DOI: 10.1109/CARPI.2012.6473345
F. Mirallès, G. Boivin
This paper presents the validation of a reference system for the inspection of large underwater hydroelectric structures. The reference system is part of a comprehensive solution for underwater inspection previously presented by the authors. The reference consists of a set of vertical wires forming a virtual plane of reference for a 3-D laser scanner. The geometrical characteristics of the reference are achieved through the use of a specially designed five-degree-of-freedom table and statically balanced universal joints. Key mechanical, electronic and software elements of the design are described. Field trials carried out on the site of a Hydro-Québec hydroelectric dam show that the approach is practicable. Trial results are compared to those from an alternative measurement system.
{"title":"Design and field validation of a large-volume reference system for inspecting underwater hydroelectric structures","authors":"F. Mirallès, G. Boivin","doi":"10.1109/CARPI.2012.6473345","DOIUrl":"https://doi.org/10.1109/CARPI.2012.6473345","url":null,"abstract":"This paper presents the validation of a reference system for the inspection of large underwater hydroelectric structures. The reference system is part of a comprehensive solution for underwater inspection previously presented by the authors. The reference consists of a set of vertical wires forming a virtual plane of reference for a 3-D laser scanner. The geometrical characteristics of the reference are achieved through the use of a specially designed five-degree-of-freedom table and statically balanced universal joints. Key mechanical, electronic and software elements of the design are described. Field trials carried out on the site of a Hydro-Québec hydroelectric dam show that the approach is practicable. Trial results are compared to those from an alternative measurement system.","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":"121453475","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}
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