Objective
The purpose of this effort is to develop and demonstrate a robotic tank inspection end effector (EE) capable of both visual and non-destructive evaluation (NDE) of the interior walls of stainless steel and carbon steel waste storage tanks. The system will detect and size corrosion damage caused by surface pitting in stainless steel and carbon steel tank walls.
The proposed system is based on an alternating current field measurement (ACFM) technology that provides remote operator video data and indicates wall corrosion. The operator will have responsibility for the operation of the inspection robot. A graphical ACFM appraisal of the condition of the scan area is presented to the operator on the video monitor. The proposed tank-wall inspection system shall at a minimum consist of: an operational inspection tool; a self-aligning sensor; an advanced electromagnetic NDE sensor; an inspection data display; and a video system to inspect the area.
The prototype EE system shall be capable of integration with the Light Duty Utility Arm (LDUA) that provides the required physical and data interfaces.
Progress for September
In Phase I, the contractor has defined the requirements of the EE system. This includes designing, fabricating, assembling, and testing the pre-prototype system at the contractor's robotic lab, which is configured to simulate representative manipulators. The software development work is compatible with the Generic Intelligent System Control (GISC). The GISC was developed by Sandia National Laboratories (SNL) to integrate simple subsystems to achieve complex capabilities, automate operations using model-based control, and stress modularity to achieve compatibility for robotic systems. Following completion of the detailed design in late August, assembly of the prototype end effector body parts began in September. The contractor tested initial pit detection and sizing algorithms using the breadboard EE to collect inspection data from test plates. Work was also continued on ACFM sensor array fabrication in the United Kingdom by the project's subcontractor, Technical Software Consultants, Ltd. The prototype unit will be completed by the end of November, 1994.
PI: Gregory Hughes, Oceaneering Space Systems, (713) 488-9080 x 3445
METC COR: Vijendra Kothari, (304) 285-4579