Augmented reality telemanipulation system for nuclear reactor inspection

Nelson R. Corby Jr.; Chris A. Nafis

doi:10.1117/12.197329

21 December 1995 Augmented reality telemanipulation system for nuclear reactor inspection

Nelson R. Corby Jr., Chris A. Nafis

Proceedings Volume 2351, Telemanipulator and Telepresence Technologies; (1995) https://doi.org/10.1117/12.197329
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

There has been an increasing need for faster and more reliable inspection of nuclear reactor vessels during scheduled inspection/refueling/repair outages. The inspection of such a complicated environment presents many challenges. During scheduled outages, the inspection platform (in our system a remotely operated miniature submarine) must be piloted efficiently to remote inspection locations, images and measurements of inspection locations presented to the human inspector, past information about this location recalled and viewed, and decisions made regarding repair activity scheduling. We are developing a new integrated system that employs augmented reality techniques to allow the inspection system operator to efficiently and reliably carry out these tasks. We describe a system that creates a realtime animated synthetic image of the underwater environment being inspected (drawn from CAD models of reactor components) in which a synthesized image of the inspection platform moves. The image is created with respect to an operator selected viewing point. A sensor measures the position and orientation of the actual mini-submarine, and these data are used by the graphics computer to continuously update the animated image. The images to be viewed can be either two or three dimensional. This information is used to assist in guiding the vehicle through the environment. The system display also integrates current inspection data (such as live video images) with past video frames or with past inspection reports and past data to allow fast and reliable inspection decisions to be made. Examples of typical operator display screens are included.

Citation Download Citation

Nelson R. Corby Jr. and Chris A. Nafis "Augmented reality telemanipulation system for nuclear reactor inspection", Proc. SPIE 2351, Telemanipulator and Telepresence Technologies, (21 December 1995); https://doi.org/10.1117/12.197329

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available