V. Papadimitriou, I. Roditis, P. Chatzakos, D. Liaptsis
{"title":"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","authors":"V. Papadimitriou, I. Roditis, P. Chatzakos, D. Liaptsis","doi":"10.1109/CARPI.2012.6473363","DOIUrl":null,"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":0.0000,"publicationDate":"2012-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"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\":null,\"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\":0.0000,\"publicationDate\":\"2012-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CARPI.2012.6473363\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 2nd International Conference on Applied Robotics for the Power Industry (CARPI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CARPI.2012.6473363","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An adaptable and self-calibrating service robotic scanner for ultrasonic inspection of nuclear nozzle-vessel welds
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.