Transcript AIR Presentation

Integrated mobile inspection systems
Swiss consortium for ITER
integrated
mobile inspection robotics
/ manipulators
Innovative
Mobile
Robotics
for confined
spaces
Page 1
Competences for ITER
Innovative
NDT
radiation hard
Sensors
Innovative
radiation
hard MicroCameras &
Electronics
Competences
/ offering for ITER
— Field proven integrated robotics for
operation in confined spaces
 non destructive testing
 visual inspection
 simple handling tasks
— Intelligent navigation
 Autonomous / sensor based navigation
(weld following, contour following)
 Vision based control
— High level development & engineering
services
 Electronics
 Mechanics
 Sensor technology
Page 2
Competences for ITER
Projects of interest in ITER
1.Inspection of Divertor
cooling pipes
(pipe bore tools)
Divertor Remote Handling System
Procurement Package - 23.02
2. Piping tools for
neutral beams remote
handling
Neutral Beam Cell Remote Handling
System - 23.05
Page 3
Competences for ITER
Drivers
/ Technology
access to human
inaccessible
areas
Efficiency /
Reliability
Mobility
 Free Movement
 Obstacle Handling
 Compactness /
Agility
Autonomy / Automation
 Positioning /
Navigation
 Adaptive Movement
 Offline / Online
Teaching
System Integration
 Integration of
Navigation and Data
Acquisition / Data
Management /
Data Analysis
Data Acquisition
/Data Management
/Data Analysis
Page 4
Competences for ITER
Robustness
 Temperature
 Immersion
(HydroCarbons,
Water etc.)
/ Core Competences
Robust Mechanical Design
 Drives / Steering
 Miniaturization
 Manufacturing
 Protection (immersion
etc.)
High Tech Mechatronic /
Electronic Design
 On board computing
(controller, programming)
 navigation (sensor +
logic)
 Integration navigation –
data acquisition
NDT tool integration
 Integrated probe and
control electronics
 Integration of Data
Acquisition / Data
Management - Navigation
 Robustness (wear,
pressure, radiation hard)
Application Integration
 System integration (
watch, clean, measure,
grab / repair)
Core Competences
Technology
 Miniaturisation of NDT
eddy current electronics
IC design, Magnetic cameras
 Improved probability of detection for
surface breaking cracks & near surface
defects (fatigue, welds)
 Harsh environment including radiation hard
 Integration in inspection systems & robotics
 + Magnetic field sensors & position sensors
(APS, proximity)
Page 5
Competences for ITER
Innovation in Robotics
Highly compact versatile inspection
robot
Navigation
 3D camera
- navigation support
- position
estimation
- measure
- object recognition
 Autonomy: line
following
- following a drawn
line
- following an edge
- following a weld
seem
Page 6
Mobility
 free movement on
complex shaped
surfaces
 right a away turn
 obstacle handling
 climbing over steps
/ edges
1760 mm
Innovation in Robotics
In Situ Generator Inspection
• AirGapCrawler is moving in
between the air gap
of rotor and stator
• The rotor can remain in stator!
• Inspection: Watch, Short-Circuit
Page 7
Scanner for deep penetration NDT in
tubine blades
Depth between probe and notch
bottom (mm)
0.5 1
1.5
2.0
2.5
Ribs
0.5mm
8
Page 8
Competences for ITER
2.5mm
Example: Generator and Turbine Bore
Scanner
Highly compact on-site non-destructive assessment
(ultrasonic, eddy current, video) of bores with /
without tapers
Rotor
Counter-bore shoulder
System with ultrasonic
module
Page 9
System in deployment
housing
Alstom Inspection Robotics - Company / Products / Technology
Core Competences and Technology
 Design of systems (electronics,
mechanics, optics) for harsh
environments (temperature, vacuum,
vibrations, radiations)
 Miniaturization
 End-to-end development with system
approach
 Operation in harsh environment
 Experience of space programs
(demanding and challenging, tight on
schedules, product assurance /
quality assurance, etc.)
 Specific process technology
(highly integrated electronics)
Page 10 Competences for ITER
Background

Assessment and test of new technologies for
space exploration

Development of imaging systems for
planetary missions

Control and processing units

Development of electronics for space
missions

R&D activities on micro-cameras based
systems

Space missions:
 Mars: ExoMars (ESA), Mars Science
Laboratory – MSL (NASA),
MarsExpress/Beagle2 (ESA)
 Moon: SMART-1 (ESA)
 Earth Observation: TARANIS (CNES),
PROBA-2 (ESA), PROBA (ESA)
 Mercury: BepiColombo (ESA)
 Comet: Rosetta (ESA)
 Astrophysics: ASTRO-H (JAXA)
 International Space station: Andromede
(CNES)
Page 11 Competences for ITER
STC PE
HRIC PE
New generation micro-camera
 Highly miniaturized
 Low power (< 1W)
 Low mass (< 120g)
 Proven and mastered technology
 Specific sensor hardening technique
for enhanced radiation tolerance
 Generic and modular
 Potential application for ITER for
inspection, monitoring, etc.
Page 12 Competences for ITER
Photogrammetry System
 "Canister-free"
Photogrammetry used in the
LSS of ESA to perform
measurements of mechanical
deformations of test
articles due to temperature
in combination with vacuum
conditions
 Based on micro-cameras
working in harsh environment
 Potential application for
deformation measurements for
ITER
Page 13 Competences for ITER
Contact
ALSTOM Inspection Robotics Ltd
Technoparkstrasse 1
8005 Zurich, Switzerland
Phone +41 44 275 25 75
[email protected]
www.inspection-robotics.com
Sensima Inspection
31 ave du Mont Blanc
CH-1196 Gland, Switzerland
Phone +41 22 364 49 20
[email protected]
www.sensimainsp.com
Micro-Cameras & Space Exploration SA
Puits-Godet 10a
CH-2000 Neuchâtel, Switzerland
Phone: +41 32 566 76 70
[email protected]
www.microcameras.ch
Page 14 Competences for ITER