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

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

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

Technical Seminar Presentation – 2004-05

Presented by :- Bikram Kumar Mishra(EI200119060)

3. MECHANICAL SYSTEM DETAILS

• MECHANICAL DESIGN OF FIRST-PHASE ROBOT

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

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

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

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

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

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

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.

.

Technical Seminar Presentation – 2004-05

Presented by :- Bikram Kumar Mishra(EI200119060)