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.

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)