basic about 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)