Automated inspection of aircraft
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Bikram Kumar Mishra presented on developing robotic tools to assist in automated aircraft inspection. The presentation covered establishing technical feasibility, developing robotic systems with mechanical, control, and sensor systems, and final phase development including eddy current sensors for inspection and video cameras for navigation. The goal was to create a robot that can walk over an aircraft, perform inspections identical to manual methods, and be remotely operated using sensor feedback to the inspector.
Automated inspection of aircraft
- 1. 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 Mishra Roll no-EI200119060)Roll no-EI200119060) NATIONAL INSTITUTE OF SCIENCE & TECHNOLOGYNATIONAL INSTITUTE OF SCIENCE & TECHNOLOGY Palur Hills,Berhampur-761008,Orissa,IndiaPalur Hills,Berhampur-761008,Orissa,India AUTOMATED INSPECTION OFAUTOMATED INSPECTION OF AIRCRAFTAIRCRAFT
- 2. 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
- 3. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 2. PROGRAM HIGHLIGHTS2. PROGRAM HIGHLIGHTS FINAL-PHASE DEVELOPMENT • MECHANICAL SYSTEM • CONTROL SYSTEM • SENSORS • HUMAN-MACHINE INTERFACE
- 4. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 3. MECHANICAL SYSTEM DETAILS • MECHANICAL DESIGN OF FIRST-PHASE ROBOT
- 5. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) • SECOND-PHASE MECHANICALSECOND-PHASE MECHANICAL IMPROVEMENTSIMPROVEMENTS • SYSTEM PERFORMANCESYSTEM PERFORMANCE • LONG-TERM MECHANICAL DESIGNLONG-TERM MECHANICAL DESIGN ISSUESISSUES
- 6. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) ROBOT MOTIONS WALKING MOTION ALIGNMENT MOTION. Spine assembly raised Spine assembly motion Spine assembly lowered Stabilizer bridge moved
- 7. 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
- 8. 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
- 9. 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
- 10. 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
- 11. 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.
- 12. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060)