Barretto, Tania

Müßle, Melanie

Rentschler, E.

KITopen

EMOS: Development of a mobile, automated, optical inspection system for radioactive drumsMelanie Müßle, Tania Barretto, Eric RentschlerInstitute of Technology and Management in Construction (TMB) –Deconstruction and Decommissioning of Conventional and Nuclear BuildingsThe research project - EMOS EMOS - Development of a mobile, automated, optical inspection system for radioactive drums Sponsored by:• BMBF Sponsoring Programme „Research for the dismantling of nuclear facilities” (FORKA) Research cooperation within the KIT• Institute of Technology and Management in Construction (TMB)• Institute of Photogrammetry and Remote Sensing (IPF)EMOS: Development of a mobile, automated, optical inspection system for radioactive drums2Field of application - EMOS Starting position• Currently, approximately 125.000 m³ of treated and conditioned low- and intermediate-level radioactive waste is stored in Germany.• The waste is filled in containers, mostly 200 L steel drums and is stored at the      interim storage sites until a final repository is found.• Their safekeeping must be ensured for an indefinite period of interim storage.Recurrent inspection of the drums is required to detect corrosion and other damages and, if necessary, to be able to initiate consequences to minimize damageEMOS: Development of a mobile, automated, optical inspection system for radioactive drums3Goals of the research project Automation and standardization of the inspection process of the drums• Automatical detection of damage to new and stored drums• Categorization of damages• Detection of changes of damages over time• Indicate, when consequences have to be taken to minimize damage Advantages• Increase in Safety during interim storage of nuclear waste• Increase in occupational safety: Staff is less exposed to radiation• Time Gain in the inspection process of the drumsEMOS: Development of a mobile, automated, optical inspection system for radioactive drums4Concept Requirements• Mobile inspection unit  • Optical and geometrical recording of the whole drum surface to detect damage like: • Corrosion• Bumps / dents• Scratches / cracks• Collected data will be automatically analyzed by a software developed in this project, digitally saved and an inspection report will be generated Boundary conditions of the research project • 200 L– steel drums (A200, R200, RRF200)• Low active wasteEMOS: Development of a mobile, automated, optical inspection system for radioactive drums5Concept Setting of inspection unit and components20ft high cube container with a rolling gate at the long sidelightingcameras andlaser line profile sensors200 L drumsrollerconveyor beltturntabledrumtipping systemEMOS: Development of a mobile, automated, optical inspection system for radioactive drums6Linear axisConceptLaser line profile sensor2 camerasLaser line profile sensorcameralighting artificial lighting ensures optimal lighting conditions when taking picturesEMOS: Development of a mobile, automated, optical inspection system for radioactive drums7 Setup of lighting and sensorsInspection process Remote operation of the system via control panelDrum on turntableDrum shelland drum lidscanDrum shelland drum lidphotographDrum on tippingsystemDrum bottomscan andphotographDrum returnEMOS: Development of a mobile, automated, optical inspection system for radioactive drums8Inspection process Drum on turntable – Drum gets carried to the turntable and gets centeredEMOS: Development of a mobile, automated, optical inspection system for radioactive drums9Inspection process: Laser line profile sensor Drum shell and drum lid scanLinear axisLaser line profile sensorLaser line profile sensor360° rotationEMOS: Development of a mobile, automated, optical inspection system for radioactive drums10Results: Laser line profile sensor Height map of the unwound drum shell – new drumEMOS: Development of a mobile, automated, optical inspection system for radioactive drums11Results: Laser line profile sensor Height map of the unwound drum shell – damaged drum Detection of geometric damage, such as bumps and dentsEMOS: Development of a mobile, automated, optical inspection system for radioactive drums12Results: Laser line profile sensor Height maps of the drum lid – new and damaged drum in comparisondamaged drumnew drumz in mmEMOS: Development of a mobile, automated, optical inspection system for radioactive drums13Inspection process: Camera Drum shell and drum lid photograph1 cameraLinear axis2 cameras360° rotationEMOS: Development of a mobile, automated, optical inspection system for radioactive drums14 Detection of the smallest, visual changes in the surface structure  corrosionResults: Camera Composite image of the unwound drum shell and classification3,9%   corrosion57,6% unaffected21,2% light dirt1,5%  reflection1,3% color spots12,5    dark dirt2,0% undercoatEMOS: Development of a mobile, automated, optical inspection system for radioactive drums15Inspection process Drum on tipping system - Drum is carried to the tipping system and gets tippedEMOS: Development of a mobile, automated, optical inspection system for radioactive drums16Inspection process Drum bottom scan and photograph2 camerasLaser line profile sensorLinear axis900 mmEMOS: Development of a mobile, automated, optical inspection system for radioactive drums17TimelineMilestonesM1 Finished ConceptM2 Demonstrator 1.0M3 Final maturity Demonstrator 1.0M4 Final maturity Demonstrator 2.0TodayEMOS: Development of a mobile, automated, optical inspection system for radioactive drums18Thank you very much for your attention!EMOS: Development of a mobile, automated, optical inspection system for radioactive drums19

EMOS - Entwicklung eines mobilen, automatisierten, optischen Insprektionssystems für radioaktive Fassgebinde = EMOS: Development of a mobile, automated, optical inspection system for radioactive drums

https://publikationen.bibliothek.kit.edu/1000151839/149783545

EMOS - Entwicklung eines mobilen, automatisierten, optischen Insprektionssystems für radioaktive Fassgebinde = EMOS: Development of a mobile, automated, optical inspection system for radioactive drums

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