Design and Implementation of Remote Control System for Reactor Vessel Weld Inspection Manipulator (CROSBI ID 158197)
Prilog u časopisu | stručni rad
Podaci o odgovornosti
Draganjac, Ivica ; Mutka, Alan ; Kovačić, Zdenko ; Postružin, Željko ; Munk, Ranko
engleski
Design and Implementation of Remote Control System for Reactor Vessel Weld Inspection Manipulator
In this paper a design and implementation of a remote control system of a manipulator for weld inspection of nuclear reactor vessels are described. Based on the 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 normally present in nuclear reactor environments. The developed graphical user interface provides tools for planning weld scan trajectories, their verification on a robot and reactor vessel 3D model, and finally, execution of planned trajectories on a remote robot. In addition, the weld inspection process can be monitored in parallel on a virtual robot and reactor vessel model and by watching live video streams captured by two cameras mounted on the robot.
Reactor vessel inspection; remote control; 3D visualisation
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Podaci o izdanju
50 (3-4)
2009.
215-226
objavljeno
0005-1144
Povezanost rada
Temeljne tehničke znanosti