Fundamental Study on Underwater Cutting of 50 mm-Thick Stainless Steel Plates Using a Fiber Laser for Nuclear Decommissioning

With nuclear power plants worldwide approaching their design lifespans, plans for decommissioning nuclear power plants are increasing, and interest in decommissioning technology is growing. Laser cutting, which is suitable for high-speed cutting in underwater environments and is amenable to remote control and automation, has attracted considerable interest. In this study, the effects of laser cutting were analyzed with respect to relevant parameters to achieve high-quality underwater laser cutting for the decommissioning of nuclear power plants. The kerf width, drag line, and roughness of the specimens during the high-power laser cutting of 50 mm-thick stainless steel in an underwater environment were analyzed based on key parameters (focal position, laser power, and cutting speed) to determine the conditions for satisfactory cutting surface quality. The results indicated that underwater laser cutting with a speed of up to 130 mm/min was possible at a focal position of 30 mm and a laser power of 9 kW; however, the best-quality cutting surface was obtained at a cutting speed of 30 mm/min.

A Laser Vision System for Relative 3-D Posture Estimation of an Underwater Vehicle with Hemispherical Optics

This paper describes the development and experimental validation of algorithms for a novel laser vision system (LVS), suitable for measuring the relative posture from both solid and mesh-like targets in underwater environments. The system was developed in the framework of the AQUABOT project, a research project dedicated to the development of an underwater robotic system for inspection of offshore aquaculture installations. In particular, an analytical model for three-medium refraction that takes into account the nonlinear hemispherical optics for image rectification has been developed. The analytical nature of the model allows the online estimation of the refractive index of the external medium. The proposed LVS consists of three line-lasers within the field of view of the underwater robot camera. The algorithms that have been developed in this work provide appropriately filtered point-cloud datasets from each laser, as well as high-level information such as distance and relative orientation of the target with respect to the ROV. In addition, an automatic calibration procedure, along with the accompanying hardware for the underwater laser vision system has been developed to reduce the calibration overhead required by regular maintenance operations for underwater robots operating in seawater. Furthermore, a spatial image filter was developed for discriminating between mesh and non-mesh-like targets in the LVS measurements. Finally, a set of experiments was carried out in a controlled laboratory environment, as well as in real conditions at offshore aquaculture installations demonstrating the performance of the system.

Microstructure and Corrosion Resistance of Underwater Laser Cladded Duplex Stainless Steel Coating after Underwater Laser Remelting Processing

Combined with the technologies of underwater local dry laser cladding (ULDLC) and underwater local dry laser remelting (ULDLR), a duplex stainless steel (DSS) coating has been made in an underwater environment. The phase composition, microstructure, chemical components and electrochemical corrosion resistance was studied. The results show that after underwater laser remelting, the phase composition of DSS coating remains unchanged and the phase transformation from Widmanstätten austenite + intragranular austenite + (211) ferrite to (110) ferrite occurred. The ULDLR process can improve the corrosion resistance of the underwater local dry laser cladded coating. The corrosion resistance of remelted coating at 3 kW is the best, the corrosion resistance of remelted coating at 1kW and 5kW is similar and the corrosion resistance of (110) ferrite phase is better than grain boundary austenite phase. The ULDLC + ULDLR process can meet the requirements of efficient underwater maintenance, forming quality control and corrosion resistance. It can also be used to repair the surface of S32101 duplex stainless steel in underwater environment.

Investigation on Microstructure and Properties of Duplex Stainless Steel Welds by Underwater Laser Welding with Different Shielding Gas

Taking S32101 duplex stainless steel as the research object, underwater laser wire filling welding technology was used for U-groove filling welding. The influence of different shielding gas compositions on the ferrite content, microstructure, mechanical properties and pitting corrosion resistance was studied by simulating a water depth of 15 m in the hyperbaric chamber. The results show that, under the same process parameters, the size and proportion of austenite in the weld when using pure nitrogen as the shielding gas are larger than those protected by other shielding gases. In a mixed shielding gas, the increase in nitrogen content has little effect on the strength and toughness of the weld. Regardless of the shielding gas used, the base metal was the weakest part of the weld. At the same time, intermetallic inclusions have an adverse effect on the impact toughness of the weld. The pitting corrosion resistance of the welds depends on the Cr2N content in the heat-affected zone. The precipitation and enrichment of Cr2N causes local chromium deficiency, which is the main factor for the weak pitting corrosion ability of the heat-affected zone. Pure nitrogen protection has a better corrosion resistance than other gas protection.

STRICT GEOMETRIC CALIBRATION OF AN UNDERWATER LASER TRIANGULATION SYSTEM

This paper will describe a novel approach for the calibration of an underwater laser triangulation system. Underwater triangulation systems, consisting of a line laser and a camera can be used to determine the geometry of submerged objects or the topography of a water body bottom. Placing camera and laser line projector inside a waterproof housing leads to refraction effects at the air-glass-water interfaces, both of the laser light-sheet and image rays. This implies a deformed laser plane in the water and a curved line on the object surface. The proposed approach strictly models the geometry between camera, laser and housing. First experiments show, that the calibration method can be applied for water depth measurements with accuracies of 0.2–0.3 mm at depths in the order of 100 mm.