Original scientific paper

Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator

Ivica Draganjac ; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Alan Mutka ; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Zdenko Kovačić orcid.org/0000-0003-3987-4576 ; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Željko Postružin ; Hrid Ltd, Zagreb, Croatia
Ranko Munk ; Hrid Ltd, Zagreb, Croatia

Abstract

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.

Keywords

Reactor vessel inspection; Remote control; 3D visualization

Hrčak ID:

47496

URI

https://hrcak.srce.hr/47496

Publication date:

22.12.2009.

Article data in other languages: croatian

Visits: 3.961 *