scholarly journals Design and Control of MIRA: A Lightweight Climbing Robot for Ship Inspection

2015 ◽  
Vol 55 ◽  
pp. 128-135 ◽  
Author(s):  
Mohammed Ahmed ◽  
Markus Eich ◽  
Felix Bernhard
Keyword(s):  
Complex Geometry ◽  
Climbing Robot ◽  
Destructive Testing ◽  
On Line ◽  
Funded Project ◽  
Inspection Data ◽  
Robotic Assistant ◽  
And Control ◽  
Marine Vessels ◽  
Non Destructive

The inspection of marine vessels is currently per-formed manually. Inspectors use tools (e.g. cameras and devices for non-destructive testing) to detect damaged areas, cracks, and corrosion in large cargo holds, tanks, and other parts of a ship. Due to the size and complex geometry of most ships, ship inspection is time-consuming and expensive. The EU-funded project INCASS develops concepts for a marine inspection robotic assistant system to improve and automate ship inspections. In this paper, we introduce our magnetic wall–climbing robot: Marine Inspection Robotic Assistant (MIRA). This semi-autonomous lightweight system is able to climb a vessels steel frame to deliver on-line visual inspection data. In addition, we describe the design of the robot and its building subsystems as well as its hardware and software components.

Comparison of Inverse Kinematics Algorithms for Multi-Section Continuum Robots

2021 ◽  
Vol 22 (8) ◽  
pp. 420-424
Author(s):  
D. Yu. Kolpashchikov ◽  
O. M. Gerget
Keyword(s):  
Inverse Kinematics ◽  
Complex Geometry ◽  
Forward Kinematics ◽  
Non Destructive Testing ◽  
Invasive Procedures ◽  
Destructive Testing ◽  
Continuum Robots ◽  
Unique Type ◽  
Non Destructive ◽  
Constant Section

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

scholarly journals Study of Lamb Waves for Non-Destructive Testing Behind Screens

2018 ◽  
Vol 170 ◽  
pp. 03005 ◽  
Author(s):  
P. Kauffmann ◽  
M.-A. Ploix ◽  
J.-F. Chaix ◽  
C. Gueudré ◽  
G. Corneloup ◽  
...  
Keyword(s):  
Fourier Transform ◽  
Lamb Waves ◽  
Nuclear Industry ◽  
Liquid Sodium ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Leaky Lamb Waves ◽  
Short Time ◽  
And Control ◽  
Non Destructive

The inspection and control of sodium-cooled fast reactors (SFR) is a major issue for the nuclear industry. Ultrasonic solutions are under study because of the opacity of liquid sodium. In this paper, the use of leaky Lamb waves is considered for non-destructive testing (NDT) on parallel and immersed structures assimilated as plates. The first phase of our approach involved studying the propagation properties of leaky Lamb waves. Equations that model the propagation of Lamb waves in an immersed plate were solved numerically. The phase velocity can be experimentally measured using a two dimensional Fourier transform. The group velocity can be experimentally measured using a short-time Fourier transform technique. Attenuation of leaky Lamb waves is mostly due to the re-emission of energy into the surrounding fluid, and it can be measured by these two techniques.

Standardisation of X-Ray Powder Diffraction Methods

2004 ◽  
Vol 443-444 ◽  
pp. 31-34
Author(s):  
Giovanni Berti ◽  
Rob Delhez ◽  
S. Norval ◽  
B. Peplinski ◽  
E. Tolle ◽  
...  
Keyword(s):  
Technical Committee ◽  
Non Destructive Testing ◽  
X Ray Diffraction ◽  
Destructive Testing ◽  
X Ray ◽  
Standard Documents ◽  
And Control ◽  
Non Destructive ◽  
Research Centres

This paper outlines the standardisation process for the XRPD method that is currently being considered by a Working Group (WG10) of Technical Committee 138 "Non-destructive Testing" of the European Committee for Standardisation CEN. Several Standard Documents are on the verge of being released. These documents concern the general principles of (X-ray) diffraction, its terminology, and the basic procedures applied. Another document concerns the instruments used and it offers procedures to characterise and control the performance of an X-ray diffractometer properly. It is intended to issue Standard Documents on specific methods, e.g. determination of residual stresses. In fact work is in progress on this subject. The Standard Documents can be used by industry, government organisations, and research centres with activities related to safety, health and the environment, as well as for educational purposes.

scholarly journals Application of ultrasonic guided waves for non-destructive testing of large and complex geometry engineering structures

2017 ◽  
Vol 14 ◽  
pp. 87-90 ◽  
Author(s):  
Renaldas Raišutis ◽  
Rymantas Kažys ◽  
Liudas Mažeika ◽  
Egidijus Žukauskas ◽  
Reimondas Šliteris ◽  
...  
Keyword(s):  
Guided Waves ◽  
Complex Geometry ◽  
Ultrasonic Guided Waves ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Engineering Structures ◽  
Non Destructive

Application and Research of Acoustic Emission Technology in the Tank Security Detection

2012 ◽  
Vol 501 ◽  
pp. 561-565 ◽  
Author(s):  
Yi Hu Huang ◽  
Hong Lei Chong ◽  
Man Hu ◽  
Xi Mei Jia ◽  
Wen Long Liu ◽  
...  
Keyword(s):  
Acoustic Emission ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
Status Monitoring ◽  
Detection Technology ◽  
Emission Testing ◽  
On Line ◽  
Acoustic Emission Testing ◽  
Non Destructive ◽  
Early Damage

The safety of the tank in duty is an important problem in engineering. Acoustic Emission testing is a dynamic online detection technology for non-destructive testing, which can provide continuous on-line status monitoring for equipments and give early damage warning. In the tank loading process, the sensors can detect the signals of the tank based on the principle of Acoustic Emission and determine the defect location. With this technology, we can monitor and evaluate the tank's safety in production.

scholarly journals Nonconventional concrete hollow blocks evaluation by destructive and non-destructive testing

2013 ◽  
Vol 6 (3) ◽  
pp. 392-398
Author(s):  
M.S. Rodrigues ◽  
G.C.S. Ferreira ◽  
L. Shiroma ◽  
A.L. Beraldo
Keyword(s):  
Portland Cement ◽  
Silica Fume ◽  
Statistical Difference ◽  
Rice Husk Ash ◽  
Partial Replacement ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
And Control ◽  
Non Destructive ◽  
Destructive Methods

The aim of this study was to evaluate cementitious matrices properties by partial replacement of Portland cement by silica fume (SF) or by rice husk ash (RHA), and their application in nonbearing hollow blocks, tested by destructive and non-destructive methods. The following mixtures were produced: reference (100% of Portland cement) and Portland cement replacement (10% by mass) with SF or RHA. The non-destructive testing showed that the highest values of UPV were obtained for SF-based blocks and RHA-based blocks. The destructive test showed better results for SF-based blocks, but there was no statistical difference between the RHA-based and control ones.

scholarly journals A Time-Frequency Based Approach for Acoustic Emission Assessment of Sliding Wear

Lubricants ◽  
2020 ◽  
Vol 8 (5) ◽  
pp. 52
Author(s):  
Igor Rastegaev ◽  
Dmitry Merson ◽  
Inna Rastegaeva ◽  
Alexei Vinogradov
Keyword(s):  
Acoustic Emission ◽  
Sliding Friction ◽  
Monitoring And Control ◽  
Destructive Testing ◽  
Noise Sources ◽  
Processing Technologies ◽  
Time Frequency ◽  
On Line ◽  
Ae Signal ◽  
And Control

The acoustic emission method is one of few contemporary non-destructive testing techniques enabling continuous on-line health monitoring and control of tribological systems. However, the existence of multiple “pseudo”-acoustic emission (AE) and noise sources during friction, and their random occurrence poses serious challenges for researchers and practitioners when extracting “useful” information from the upcoming AE signal. These challenges and numerous uncertainties in signal classification prevent the unequivocal interpretation of results and hinder wider uptake of the AE technique despite its apparent advantages. Currently, the signal recording and processing technologies are booming, and new applications are born on this support. Specific tribology applications, therefore, call for developing new and tuning existing approaches to the online AE monitoring and analysis. In the present work, we critically analyze, compare and summarize the results of the application of several filtering techniques and AE signal classifiers in model tribological sliding friction systems allowing for the simulation of predominant wear mechanisms. Several effective schemes of AE data processing were identified through extensive comparative studies. Guidelines were provided for practical application, including the online monitoring and control of the systems with friction, characterizing the severity and timing of damage, on-line evaluation of wear as sliding contact tests and instrumented acceleration of tribological testing and cost reduction.

scholarly journals Non-destructive testing methods of assemblies and units of fire and emergency technique

2020 ◽  
Vol 4 (4) ◽  
pp. 389-396
Author(s):  
Виктор Алексеевич Бирюк ◽  
Владимир Николаевич Пасовец ◽  
Марк Михайлович Журов
Keyword(s):  
Computer Simulation ◽  
Welded Joints ◽  
Non Destructive Testing ◽  
Testing Methods ◽  
Destructive Testing ◽  
Modern Methods ◽  
And Control ◽  
Emergency Equipment ◽  
Non Destructive ◽  
Destructive Methods

Purpose. The substantiation of the use of modern methods for assessing and monitoring the state of fire and emergency equipment in order to ensure its trouble-free operation. Methods. Non-destructive methods, computer simulation, tensometry. Findings. The review of methods existing for assessment and control of assemblies and units of fire and rescue vehicles technical state is performed. Some results of their application are presented. The application possibility of non-destructive testing methods is assessed. Application field of research. Fire rescue equipment, welded joints of technical objects.

Automated system of contactless ultrasound nondestructive quality control of solid fuel rocket engines from composite materials

2021 ◽  
Vol 27 (3) ◽  
pp. 76-84
Author(s):  
A.V. Kulyk ◽  
◽  
P.N. Zheltov ◽  
S.V. Klymenko ◽  
V.V. Chabanov ◽  
...  
Keyword(s):  
Quality Control ◽  
Composite Materials ◽  
Solid Fuel ◽  
The Body ◽  
Automated System ◽  
Rocket Engines ◽  
Non Destructive Testing ◽  
Destructive Testing ◽  
And Control ◽  
Non Destructive

Currently, in various industries (engineering, aircraft, energy, etc.) the issue of product quality assurance and control is particularly acute. This is due primarily to the ever-increasing requirements for increasing reliability with increasing loads on products, which entails the strengthening of technical standards. The issue of quality control for rocket and space technology products is especially relevant. Modern power structures of rocket and spacecraft made of polymer composite materials, and especially the body of solid fuel rocket engines (SFRЕ), are multilayer packages of various polymer-composite materials (PKM), obtained and interconnected in the process of manufacturing the body. The efficiency of SFRЕ depends on the quality of the formation of PKM in production conditions. The most important issues are the implementation of production quality control of composite structures, the reliability of control results and the ability to automate the control process. The article presents an automated system of non-contact ultrasonic non-destructive testing, which allows to control the stability of the technological process of forming the composite material of the wall of the SFRЕ body and, if necessary, to adjust it. The probability of detecting zones of anomalous violation of the integrity of the wall material of the SFRЕ housing is carried out due to adaptive algorithms, digital systems of multilevel matrix processing and optimal filtering of the received signals. The automated system of contactless ultrasonic non-destructive quality control of SFRЕ cases allows to register conditions of scanning and control for more visual representation of the defectogram in the expanded look of the case of a product in the course of control and at documentation of its results. The presented results of work on the development of an automated system of non-destructive testing of the integrity of the buildings of the SFRЕ type "cocoon" confirm the possibilities of practical implementation in production.

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