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Ball-shaped robots to Inspect nuclear power plants
Post: #1

[u Ball-shaped robots to Inspect nuclear power plants
[/u]



.ppt  Ball-shaped robots to Inspect.ppt (Size: 1.6 MB / Downloads: 31)

NEED OF ROBOTIC SYSTEMS

To perform automated and repetitive work.
Safety of workers and regulation.
Profitibility

ROBOTS USED FOR MONITORING

SIMON-developed in 1990.
MACS-developed in 1996.
UBIB –developed 1996.
ARIES-developed in 1999

BALL SHAPED ROBOTS

Developed by Massachuttus Institute of Technology.
Harry Asada,Fond Professor of MIT.
Designed to efficiently enter the underground pipes.
About the size of an egg.
Inspection is done without digging up the buried pipes.
Signs of corrosion and leakage are detected.
Onboard camera takes images along the pipe’s interior.
Wireless underwater
communications across distances
of upto 100m.

Wireless camera node

A computer module.
Wireless LAN adaptor.
Wired LAN adaptor utilized for connecting image card.
CMOS camera with fisheye lens.
GPS locator.

MATHEMATICAL MODEL

Model was established by using
No rolling slip constraints.
Conservation of angular
momentum.
Algorithm motion planning
Spherical structure offer extra
- ordinary motion properties.

Conclusion

Asada’s ball shaped robot’s system
has a simplicity, which is very
attractive.
For inspecting tight,confined spaces.
Able to withstand a reactor’s environment and can transmit images in real time for within.
Post: #2
I am in need of full seminar report on this topic. Please help me. my email id is "gaurav.kinng[at]gmail.com".
Post: #3
Ball-shaped robots Operates according to the principle of change in the center of gravity. The power source of these robots is the NiCd battery. Same as the hamster ball. They have eye movement ball mechanism. By controlling the speed of the drive, the speed of the robot is controlled. Mobility was provided by generating torque directly to the lever. The number of revolutions is counted by means of an inductive sensor. The large instrument board carries an on-board computer and interactivity tools. Pulse encoders are used for the measurement of motor rotation. The sensors are used for temperature, pan, tilt and title of the interior mechanics. Local server transmits the control using commands that are invariant kinematic. These robots have an automatic location command. The user interface contains a virtual model for communication between the remote user and a local system.

Robots are used to perform automated and repetitive work. It brings workers' safety and regulation and profitability. They are used for inspection and maintenance of critical and hazardous systems such as reactor vessel inspection, underwater inspection and pipeline inspection. Ball Shaped Robots are developed by the Massachuttus Institute of Technology. They are designed to efficiently enter underground pipelines. It is the size of an egg. Using there the inspection of the robots is done without digging up the buried pipes. Signs of corrosion and leakage. On board the camera takes pictures along the inside of the pipe. They have wireless submarine communications capability over distances of up to 100m.

 

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