Naslov
Control System for Reactor Vessel Inspection Manipulator

Autori
Mutka, Alan ; Draganjac, Ivica ; Kovačić, Zdenko ; Postružin, Željko ; Munk, Ranko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 3rd IEEE Multi-conference on Systems and Control / - Sankt Peterburg : Institute of Electrical and Electronics Engineers (IEEE), 2009, 1312-1318

ISBN
978-1-4244-4602-5

Skup
The 3rd IEEE Multi-conference on Systems and Control

Mjesto i datum
Sankt Peterburg, Ruska Federacija, 08.07.2009. - 10.07.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Reactor vessel; inspection; manipulator; control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

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