Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) Under...
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Transcript of Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) Under...
![Page 1: Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) Under the guidance of Mr. P. Mahapatra Presented By Bikram Ku.](https://reader035.fdocuments.us/reader035/viewer/2022062301/5697bfa11a28abf838c95c05/html5/thumbnails/1.jpg)
Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
Under the guidance of
Mr. P. MahapatraMr. P. Mahapatra
Presented By
Bikram Ku MishraBikram Ku MishraRoll no-EI200119060)Roll no-EI200119060)
NATIONAL INSTITUTE OF SCIENCE & TECHNOLOGYNATIONAL INSTITUTE OF SCIENCE & TECHNOLOGYPalur Hills,Berhampur-761008,Orissa,IndiaPalur Hills,Berhampur-761008,Orissa,India
AUTOMATED INSPECTION OF AUTOMATED INSPECTION OF AIRCRAFTAIRCRAFT
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
INTRODUCTIONINTRODUCTION
establish technical feasibility of using robotic systems in aircraft maintenance facilities
develop robotic tools to assist aircraft inspectors
Benefits Improved Detection Improved Repeatability Reduced Aircraft Downtime Electronically Retrievable Inspection Data Improved Safety for Inspectors
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
2. PROGRAM HIGHLIGHTS 2. PROGRAM HIGHLIGHTS
FINAL-PHASE DEVELOPMENT • MECHANICAL
SYSTEM
• CONTROL SYSTEM
• SENSORS
• HUMAN-MACHINE INTERFACE
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
3. MECHANICAL SYSTEM DETAILS
• MECHANICAL DESIGN OF FIRST-PHASE ROBOT
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
• SECOND-PHASE MECHANICAL SECOND-PHASE MECHANICAL IMPROVEMENTSIMPROVEMENTS
• SYSTEM PERFORMANCESYSTEM PERFORMANCE
• LONG-TERM MECHANICAL DESIGN LONG-TERM MECHANICAL DESIGN ISSUESISSUES
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
ROBOT MOTIONS
WALKING MOTION ALIGNMENT MOTION.
Spine assembly raisedSpine assembly motionSpine assembly loweredStabilizer bridge moved
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
• ON-BOARD ROBOT ELECTRONIC SYSTEMS• GROUND-BASED ELECTRONIC SYSTEMS • OPERATOR WORKSTATION COMPUTER • SATELLITE EQUIPMENT ENCLOSURE
5 CONTROL SYSTEM DETAILS
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
• control points (On=White, Off=Gray)
• limit switches (On=Yellow,
Off=Gray) •suction cups (Vacuum=Green, Ambient pressure=Red)
. . CONTROL SYSTEM SOFTWARE • NAVIGATION AND VISUALIZATION
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
6. SENSOR SYSTEM DETAILS. • EDDY-CURRENT SENSORS EDDY-CURRENT INSPECTION HARDWARE
EDDY-CURRENT SENSOR CALIBRATION
EDDY-CURRENT SOFTWARE
EDDY-CURRENT FLAW DETECTION
• VISUAL SENSORS AND VIDEO-BASED RIVET LOCATION ALGORITHMS.
ROBOTICS INSTITUTE VIDEO RIVET LOCATION ALGORITHMS
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
CMRI VIDEO RIVET LOCATION ALGORITHMS
NEURAL NETWORK RESULTS
THIRD TRIAL: IMPROVED CAMERA SYSTEM
RIVET LINE-FITTING ALGORITHM
•FEEDBACK SWITCHES
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)
CONCLUSIONCONCLUSION
The robot was able to achieve the following goals: adhering to and walking over an aircraft fuselage regardless of the orientations of those surfaces, acquiring eddy-current inspection data that appeared identical to manually deployed eddy-current sensors, and being remotely operated using video and sensor feedback provided to the inspector. Video camera-based automatic alignment and navigation were demonstrated in an auxiliary experiment using a separate robot moving on an aircraft skin surface.
.
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Technical Seminar Presentation – 2004-05
Presented by :- Bikram Kumar Mishra(EI200119060)