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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 icon 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

Puni tekst: engleski, pdf (1 MB) str. 215-226 preuzimanja: 1.004* citiraj
APA 6th Edition
Draganjac, I., Mutka, A., Kovačić, Z., Postružin, Ž. i Munk, R. (2009). Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator. Automatika, 50 (3-4), 215-226. Preuzeto s https://hrcak.srce.hr/47496
MLA 8th Edition
Draganjac, Ivica, et al. "Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator." Automatika, vol. 50, br. 3-4, 2009, str. 215-226. https://hrcak.srce.hr/47496. Citirano 19.09.2020.
Chicago 17th Edition
Draganjac, Ivica, Alan Mutka, Zdenko Kovačić, Željko Postružin i Ranko Munk. "Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator." Automatika 50, br. 3-4 (2009): 215-226. https://hrcak.srce.hr/47496
Harvard
Draganjac, I., et al. (2009). 'Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator', Automatika, 50(3-4), str. 215-226. Preuzeto s: https://hrcak.srce.hr/47496 (Datum pristupa: 19.09.2020.)
Vancouver
Draganjac I, Mutka A, Kovačić Z, Postružin Ž, Munk R. Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator. Automatika [Internet]. 2009 [pristupljeno 19.09.2020.];50(3-4):215-226. Dostupno na: https://hrcak.srce.hr/47496
IEEE
I. Draganjac, A. Mutka, Z. Kovačić, Ž. Postružin i R. Munk, "Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator", Automatika, vol.50, br. 3-4, str. 215-226, 2009. [Online]. Dostupno na: https://hrcak.srce.hr/47496. [Citirano: 19.09.2020.]

Sažetak
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.

Ključne riječi
Reactor vessel inspection; Remote control; 3D visualization

Hrčak ID: 47496

URI
https://hrcak.srce.hr/47496

[hrvatski]

Posjeta: 2.244 *