Modern technologies and opportunities present new challenges and set new tasks for us. The main components of the smart production of an actuator (so-called smart drive production factory) are different kind of optical sensors. With their help can be provided not only control of structural survey of the smart drive production factory but also the access control system. The main types of optical sensors, their pro and contra and the development of the way they are used are described in the paper.
The paper conducts the new method of pipeline's inner surface control. The 3D model of the area can be built using laser profilers. Surface profile is the line of intersection of the plane having a predetermined orientation, with a given surface. Having a set of profiles, a surface relief can be built. Analyzed surface's profilogram in digital form is generated by computing system profiler on the distorted image profile. Besides the development of 3D measuring techniques for inline inspection leads to increasing of the speed of checking pipelines as a lot of data can be obtained from engineering surfaces in a short time.
The article deals with radiation-resistant television system located on the robot arm and designed for positioning of a gripper, for collecting and retrieving foreign objects (including nuclear fuel element’s fragments) located in the protective chamber of a nuclear power plant. Performing sequential necessary movements by arm, wrist and gripper of the manipulator nuclear fuel element’s fragments or objects are captured. By consecutive movement of arm, and wrist manipulator is moved to the position for the extraction from mine - arm is moved to the zero position, control is performed with the indicator on the control panel. Control of manipulator's components position and lifted objects is also visualized by means of a television system. After that, the manipulator is lifted from the mine of the protective chamber at low speed. The gripper can be replaced if necessary. Three cameras (two on a wrist and one on a forearm) are mounted on the manipulator to overview surrounding environment. The cameras located on the articulated arm have a mechanical angle adjustment. Each camera has individual focal length adjustment to provide sharpness in capture plane. Together the three cameras provide a panoramic view, side view and top view of a captured object. Each camera is equipped with built-in LED illuminators allowing to work without external lighting.
In a pressurized water reactor (PWR) there are no light sources due to the operation of such devices in a given medium. Thus, in order to obtain a high-quality video image when operating on PWR, the lighting unit must be located on the optoelectronic manipulator transmission device. The subject of the study is optoelectronic systems designed to monitor fuel loading underwater in PWR. The relevance of the topics is image quality improvement of the object under a high level of radiation background, the use of a new radiation-resistant block of illuminators, the main light source of which are LEDs, the development of a control circuit for the LED lighting unit using a microcontroller. For LED lighting optical systems' design, it is proposed to use nonimaging optical elements with refractive and reflective surfaces of various shapes. For their calculation, the known methods which are developed for the calculation of spherical and similar aspheric optics are not applicable. The scientific novelty of the work is the use of LEDs made on carbide-silicon substrates in radiation-resistant television systems.
Swarm robotics is one of the fastest growing areas of modern technology. Being subclass of multi-agent systems it inherits the main part of scientific-methodological apparatus of construction and functioning of practically useful complexes, which consist of rather autonomous independent agents. Ambient light sensors (ALS) are widely used in robotics. But speaking about swarm robotics, the technology which has great number of specific features and is developing, we can't help mentioning that its important to use sensors on each robot not only in order to help it to get directionally oriented, but also to follow light emitted by robot-chief or to help to find the goal easier. Key words: ambient light sensor, swarm system, multiagent system, robotic system, robotic complexes, simulation modelling
The main goal of nuclear safety is to protect from accidents in nuclear power plant (NPP) against radiation arising during normal operation of nuclear installations, or as a result of accidents on them. The most important task in any activities aimed at the maintenance of NPP is a constant maintenance of the desired level of security and reliability. The periodic non-destructive testing during operation provides the most relevant criteria for the integrity of the components of the primary circuit pressure. The objective of this study is to develop a system for forming a color image on the television camera on vidicon which is used to conduct non-destructive testing in conditions of increased radiation at NPPs.
Due to the improved economic situation in the high technology sectors, work on the creation of industrial robots and special mobile robotic systems are resumed. Despite this, the robotic control systems mostly remained unchanged. Hence one can see all advantages and disadvantages of these systems. This is due to lack of funds, which could greatly facilitate the work of the operator, and in some cases, completely replace it. The paper is concerned with the complex machine vision of robotic system for monitoring of underground pipelines, which collects and analyzes up to 90% of the necessary information. Vision Systems are used to identify obstacles to the process of movement on a trajectory to determine their origin, dimensions and character. The object is illuminated in a structured light, TV camera records projected structure. Distortions of the structure uniquely determine the shape of the object in view of the camera. The reference illumination is synchronized with the camera. The main parameters of the system are the basic distance between the generator and the lights and the camera parallax angle (the angle between the optical axes of the projection unit and camera).