Miniature Mobile Systems for Inspection of Ferromagnetic Structures

Power plants require periodical inspections to control their state. To ensure a safe operation, parts that could fail before the next inspection are repaired or replaced, since a forced outage due to a failure can cost up to millions of dollars per day. Non-Destructive Testing (NDT) methods are used to detect different defects that could occur, such as cracks, thinning, corrosion or pitting. Some parts are inspected directly in situ, but may be difficult to access; these can require opening access holes or building scaffoldings. Other parts are disassembled and inspected in workshops, when the required inspection tools cannot be moved. In this thesis, we developed innovative miniature mobile systems able to move within these small and complex installations and inspect them. Bringing sensors to difficult-to-access places using climbing robots can reduce the inspection time and costs, because some dismantling or scaffolding can be eliminated. New miniature sensors can help to inspect complex parts without disassembling them, and reduce the inspection costs, as well. To perform such inspections, miniature mobile systems require a high mobility and keen sensing capabilities. The following approach was used to develop these systems. First, different innovative climbing robots are developed. They use magnetic adhesion, as most structures are made of ferromagnetic steel. Then, vision is embedded in some of the robots. Performing visual inspections becomes thus possible, as well as controlling the robots remotely, without viewing them. Finally, non-visual NDT sensors are developed and embedded in some of the robots, allowing them to detect defects that simple vision cannot detect. Achieving the miniaturization of the developed systems requires strong system integration during these three steps. A set of examples for the different steps has been designed, implemented and tested to illustrate this approach. The Tripillars robots, for instance, use caterpillars, and are able to climb on surfaces of any inclination and to pass inner angles. The Cy-mag3Ds robots use an innovative magnetic wheel concept, and are able to climb on surfaces of any inclination and to pass inner angles, outer angles and surface flips. The Tubulos robots move in tubes of 25 mm diameter at any inclination. All robots embed the required electronics, actuators, sensors and energy to be controlled remotely by the user. Wireless transmission of the commands signals allows the systems to maintain their full mobility without disturbing cables. Integrating Hall sensors near the magnetic systems allows them to measure the adhesion force. This information improves the security of the robots, since when the adhesion force becomes low, the robots can be stopped before they fall. The Tubulo II uses Magnetic Switchable Devices (MSDs) for adhesion. An MSD is composed of a ferromagnetic stator and one or more moving magnets; it has the advantage of requiring only a low force to switch on or off a high adhesion force. MSDs have the advantage of being easy to clean of the magnetic dust that is present in most real environments and that sticks strongly to magnetic systems. As an additional step toward inspection, a camera is embedded on the Cy-mag3D II and the Tubulos. It allows these robots to inspect visually the structures the robots move in, and to control them remotely. The perspective of a climbing robot in an unknown environment is often not enough to give the user a sense of its scale, and to move efficiently in it. A distance sensor is designed and embedded on the Cy-mag3D II, which increases the user's perception of the environment substantially; Finally, an innovative miniature Magnetic Particle Inspection (MPI) system was developed to inspect turbine blades without disassembling them. An MSD is used to perform the required magnetization. The system can automatically inspect a flat surface, performing all the required steps of MPI: magnetize, spray magnetic particles, record images under UV light and demagnetize. Thanks to the strong integration and miniaturization, the system can potentially inspect complex parts such as steam turbines

confined spaces industrial inspection with micro aerial vehicles and laser range finder localization

This work addresses the problem of semi-automatic inspection and navigation in confined environments. A system that overcomes many challenges at the state of the art is presented. It comprises a mu..

Mission safety evaluation report for STS-37, postflight edition

STS-37/Atlantis was launched on April 5, 1991 from Kennedy Space Center launch complex 39B at 9:23 a.m. Eastern Standard Time (EST). Launch was delayed 4 minutes 45 seconds because of safety concerns about the low cloud ceiling and the wind direction in the potential blast area. Based on the limited number and type of inflight anomalies encountered, the Space Shuttle operated satisfactorily throughout the STS-37 mission. A contingency EVA was performed by the crew on Flight Day (FD) 3 to free a sticky Gamma Ray Observatory (GRO) high gain antenna, after which the GRO primary payload was successfully deployed by the Orbiter's Remote Manipulator System. The GRO, which weighed just over 35,000 lbs, was the heaviest NASA science satellite ever deployed by the Space Shuttle into low Earth orbit. The scheduled entry/landing on FD 6 was waved off for one day due to high wind conditions at Edwards Air Force Base. Atlantis landed on FD 7, 11 April 1991 on Edwards AFB lakebed runway 33 at 9:55 a.m. Eastern Daylight Time

Index to 1984 NASA Tech Briefs, volume 9, numbers 1-4

Short announcements of new technology derived from the R&D activities of NASA are presented. These briefs emphasize information considered likely to be transferrable across industrial, regional, or disciplinary lines and are issued to encourage commercial application. This index for 1984 Tech B Briefs contains abstracts and four indexes: subject, personal author, originating center, and Tech Brief Number. The following areas are covered: electronic components and circuits, electronic systems, physical sciences, materials, life sciences, mechanics, machinery, fabrication technology, and mathematics and information sciences

Modelling and Calculation of Raw Material Industry

The raw materials industry is widely considered to be too environmentally costly, and causing more losses than benefits. The responsible solving of the problems caused by this industry is not “exporting” its operations to less developed countries, but addressing all recognized hazards with dedicated technological developments. Such an approach is presented by the authors of this book. The contributions deal with the optimization of processes in the raw materials industry, obtaining energy from alternative fuels, researching the environmental aspects of industrial activities. This book determines some guidelines for the sustainable raw materials industry, describing methods of the optimized use of mined deposits and the recovery of materials, reductions in energy consumption and the recuperation of energy, minimizations in the emissions of pollutants, the perfection of quieter and safer processes, and the facilitation of modern materials-, water-, and energy-related techniques and technologies

Proceedings of the 10th International Conference on NDE in Relation to Structural Integrity for Nuclear and Pressurized Components

This conference, the tenth in a series on NDE in relation to structural integrity for nuclear and pressurized components, was held from 1st October to 3 October 2013, in Cannes, France. The scientific programme was co-produced by the European Commission’s Joint Research Centre, Institute for Energy and Transport (EC-JRC/IET). The Conference has been coordinated by the Confédération Française pour les Essais Non Destructifs (COFREND). The first conference, under the sole responsibility of EC-JRC was held in Amsterdam, 20-22 October 1998. The second conference was locally organized by the EPRI NDE Center in New Orleans, 24-26 May 2000, the third one by Tecnatom in Seville, 14-16 November 2001, the fourth one by the British Institute of Non-Destructive Testing in London, 6-8 December 2004, the fifth by EPRI in San Diego, 10-12 May 2006, the sixth by Marovisz in Budapest, 8-10 October 2007, the seventh by the University of Tokyo and JAPEIC in Yokohama, the eight by DGZfP, 29 September to 1st October 2010, the ninth by Epri NDE Center, 22-24 May 2012 in Seattle. The theme of this conference series is to provide the link between the information originated by NDE and the use made of this information in assessing structural integrity. In this context, there is often a need to determine NDE performance against structural integrity requirements through a process of qualification or performance demonstration. There is also a need to develop NDE to address shortcomings revealed by such performance demonstration or otherwise. Finally, the links between NDE and structural integrity require strengthening in many areas so that NDE is focussed on the components at greatest risk and provides the precise information required for assessment of integrity. These were the issues addressed by the papers selected for the conference.JRC.F.5-Nuclear Reactor Safety Assessmen

SPATIAL TRANSFORMATION PATTERN DUE TO COMMERCIAL ACTIVITY IN KAMPONG HOUSE

ABSTRACT Kampung houses are houses in kampung area of the city. Kampung House oftenly transformed into others use as urban dynamics. One of the transfomation is related to the commercial activities addition by the house owner. It make house with full private space become into mixused house with more public spaces or completely changed into full public commercial building. This study investigate the spatial transformation pattern of the kampung houses due to their commercial activities addition. Site observations, interviews and questionnaires were performed to study the spatial transformation. This study found that in kampung houses, the spatial transformation pattern was depend on type of commercial activities and owner perceptions, and there are several steps of the spatial transformation related the commercial activity addition. Keywords: spatial transformation pattern; commercial activity; owner perception, kampung house; adaptabilit

Numerical Analysis Of Stress Distribution In Neck Area On Co Cr Alloy Total Hip Replacement Implant

Total hip replacement implants represent permanent implants, and require large bone and cartilage removal during implantation. Revision would affect joint capability to sustain load, which makes this procedure irreversible. During exploitation, i.e. everyday activities, implants are exposed to high influence of dynamic load, which will lead to failure of material by fatigue. Highest stress states on total hip replacement implants are present in neck area of implant, which is a position of crack initiation. Under loading neck area of implant contains tension and compression zones. Crack initiation on neck side under tension would lead to crack opening and certain fracture of the material. Implants are designed to reduce stress concentration on tension side of the neck and to create maximal stress concentration on compression side of the neck, where eventual crack would be pressed by material preventing its further propagation. Implants are examined with experimental and numerical methods. Most common numerical method is finite element method (FEM), used to simulate different loading conditions. Numerical analysis of stress distribution in neck area on specific implant was computed for static load equal to maximal load applied on implant. Subject of this paper is influence of implant geometry on stress distribution in neck area, thereby analysis was performed only for implant. Contact bone-implant was compensated with adequate boundary conditions. Material properties of selected implant were obtained from literature. Four numerical models were created in order to show how certain reductions of material influence on stress distribution in neck area of implant. The objective of this paper was to analyse these solutions

Calcined solids storage facility closure study

The disposal of radioactive wastes now stored at the Idaho National Engineering and Environmental Laboratory is currently mandated under a {open_quotes}Settlement Agreement{close_quotes} (or {open_quotes}Batt Agreement{close_quotes}) between the Department of Energy and the State of Idaho. Under this agreement, all high-level waste must be treated as necessary to meet the disposal criteria and disposed of or made road ready to ship from the INEEL by 2035. In order to comply with this agreement, all calcined waste produced in the New Waste Calcining Facility and stored in the Calcined Solids Facility must be treated and disposed of by 2035. Several treatment options for the calcined waste have been studied in support of the High-Level Waste Environmental Impact Statement. Two treatment methods studied, referred to as the TRU Waste Separations Options, involve the separation of the high-level waste (calcine) into TRU waste and low-level waste (Class A or Class C). Following treatment, the TRU waste would be sent to the Waste Isolation Pilot Plant (WIPP) for final storage. It has been proposed that the low-level waste be disposed of in the Tank Farm Facility and/or the Calcined Solids Storage Facility following Resource Conservation and Recovery Act closure. In order to use the seven Bin Sets making up the Calcined Solids Storage Facility as a low-level waste landfill, the facility must first be closed to Resource Conservation and Recovery Act (RCRA) standards. This study identifies and discusses two basic methods available to close the Calcined Solids Storage Facility under the RCRA - Risk-Based Clean Closure and Closure to Landfill Standards. In addition to the closure methods, the regulatory requirements and issues associated with turning the Calcined Solids Storage Facility into an NRC low-level waste landfill or filling the bin voids with clean grout are discussed