3,898 research outputs found

    Projektiranje i implementacija sustava upravljanja robotskim manipulatorom za udaljeno ispitivanje zavara na reaktorskim posudama

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    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.U ovom radu opisan je postupak projektiranja i implementacije sustava za udaljeno upravljanje robotskim manipulatorom koji služi za ispitivanje zavara na posudama nuklearnih reaktora. Opisani sustav temelji se na komunikacijskoj arhitekturi tipa TCP/IP klijent-poslužitelj, te omogućuje provedbu cjelokupnog postupka ispitivanja na daljinu, bez potrebe izlaganja opasnoj radijaciji koja je uobičajeno prisutna u okruženju nuklearnog reaktora. Postupak ispitivanja provodi se korištenjem razvijene programske aplikacije, koja putem grafičkog korisničkog sučelja operateru nudi alate za planiranje potrebnih trajektorija, njihovu provjeru na virtualnom 3D modelu posude i manipulatora, te izvršavanje na udaljenom manipulatoru. Operateru je također omogućen uvid u trenutno zbivanje u posudi tijekom cijelog postupka ispitivanja, paralelnim praćenjem virtualne 3D scene, te video slika s dvije specijalne kamere ugrađene na manipulatoru

    Modularity in robotic systems

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    Most robotic systems today are designed one at a time, at a high cost of time and money. This wasteful approach has been necessary because the industry has not established a foundation for the continued evolution of intelligent machines. The next generation of robots will have to be generic, versatile machines capable of absorbing new technology rapidly and economically. This approach is demonstrated in the success of the personal computer, which can be upgraded or expanded with new software and hardware at virtually every level. Modularity is perceived as a major opportunity to reduce the 6 to 7 year design cycle time now required for new robotic manipulators, greatly increasing the breadth and speed of diffusion of robotic systems in manufacturing. Modularity and its crucial role in the next generation of intelligent machines are the focus of interest. The main advantages that modularity provides are examined; types of modules needed to create a generic robot are discussed. Structural modules designed by the robotics group at the University of Texas at Austin are examined to demonstrate the advantages of modular design

    Technology for the Future: In-Space Technology Experiments Program, part 2

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    The purpose of the Office of Aeronautics and Space Technology (OAST) In-Space Technology Experiments Program In-STEP 1988 Workshop was to identify and prioritize technologies that are critical for future national space programs and require validation in the space environment, and review current NASA (In-Reach) and industry/ university (Out-Reach) experiments. A prioritized list of the critical technology needs was developed for the following eight disciplines: structures; environmental effects; power systems and thermal management; fluid management and propulsion systems; automation and robotics; sensors and information systems; in-space systems; and humans in space. This is part two of two parts and contains the critical technology presentations for the eight theme elements and a summary listing of critical space technology needs for each theme

    Small business innovation research. Abstracts of completed 1987 phase 1 projects

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    Non-proprietary summaries of Phase 1 Small Business Innovation Research (SBIR) projects supported by NASA in the 1987 program year are given. Work in the areas of aeronautical propulsion, aerodynamics, acoustics, aircraft systems, materials and structures, teleoperators and robotics, computer sciences, information systems, spacecraft systems, spacecraft power supplies, spacecraft propulsion, bioastronautics, satellite communication, and space processing are covered

    Mechanical Design Optimization of a Piping Inspection Robot

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    International audienc

    Control of a compact, tetherless ROV for in-contact inspection of complex underwater structures

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    In this paper we present the dynamic modeling and control of EVIE (Ellipsoidal Vehicle for Inspection and Exploration), an underwater surface contact ROV (Remotely Operated Vehicle) for inspection and exploration. Underwater surface inspection is a challenging and hazardous task that demands sophisticated automation – as in boiling water nuclear reactors, water pipeline, submarine hull and oil pipelines inspection. EVIE is inspired by its predecessor, the Omni Submersible, in its ellipsoidal, streamlined, and appendage free shape. The objective for the robot is to carry inspection sensors – magnetic, acoustics or visual – to determine cracks on submerged surfaces. Unlike a robot moving in a practically boundless fluid, contact forces complicate the dynamics by bringing in normal and frictional forces, both of which are highly non linear in nature. This makes the modeling much more challenging and the development of an integrated controller more difficult. In this paper we will discuss the preliminary design and hydrodynamic modeling of such a robot. We analyze in detail the controls for one of the many transitional states of this robot. Eventually all transitional states need to be integrated to develop a hybrid dynamical system which shall use a controller that can adapt to its different states.Electric Power Research Institut
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