Technical Seminar Presentation – 2004-05

AUTOMATED INSPECTION OF
AIRCRAFT
Under the guidance of
Mr. P. Mahapatra

Presented By
Bikram Ku Mishra
Roll no-EI200119060)

NATIONAL INSTITUTE OF SCIENCE & TECHNOLOGY

Palur Hills,Berhampur-761008,Orissa,India

Presented by :- Bikram Kumar Mishra(EI200119060)

Technical Seminar Presentation – 2004-05

INTRODUCTION
 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

Presented by :- Bikram Kumar Mishra(EI200119060)

Technical Seminar Presentation – 2004-05

2. PROGRAM HIGHLIGHTS

FINAL-PHASE DEVELOPMENT
• MECHANICAL

SYSTEM

• CONTROL SYSTEM

• SENSORS

• HUMAN-MACHINE
INTERFACE

Presented by :- Bikram Kumar Mishra(EI200119060)

Technical Seminar Presentation – 2004-05

3. MECHANICAL SYSTEM
DETAILS
• MECHANICAL DESIGN OF FIRST-PHASE
ROBOT

Presented by :- Bikram Kumar Mishra(EI200119060)

Technical Seminar Presentation – 2004-05

• SECOND-PHASE MECHANICAL
IMPROVEMENTS

• SYSTEM PERFORMANCE

• LONG-TERM MECHANICAL DESIGN

ISSUES

Presented by :- Bikram Kumar Mishra(EI200119060)

 Technical Seminar Presentation – 2004-05

ROBOT MOTIONS

Spine assembly
raised
Spine assembly
motion
Spine assembly
 WALKING MOTION lowered
 ALIGNMENT MOTION. Stabilizer bridge
moved

Presented by :- Bikram Kumar Mishra(EI200119060)

 Technical Seminar Presentation – 2004-05

5 CONTROL SYSTEM DETAILS

• ON-BOARD ROBOT ELECTRONIC SYSTEMS
• GROUND-BASED ELECTRONIC SYSTEMS
• OPERATOR WORKSTATION COMPUTER
• SATELLITE EQUIPMENT ENCLOSURE

Presented by :- Bikram Kumar Mishra(EI200119060)

Technical Seminar Presentation – 2004-05

• 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

Presented by :- Bikram Kumar Mishra(EI200119060)

 Technical Seminar Presentation – 2004-05

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

Presented by :- Bikram Kumar Mishra(EI200119060)

Technical Seminar Presentation – 2004-05

CMRI VIDEO RIVET LOCATION ALGORITHMS

NEURAL NETWORK RESULTS
THIRD TRIAL: IMPROVED CAMERA SYSTEM
RIVET LINE-FITTING ALGORITHM

•FEEDBACK SWITCHES

Presented by :- Bikram Kumar Mishra(EI200119060)

 Technical Seminar Presentation – 2004-05

CONCLUSION
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.

Presented by :- Bikram Kumar Mishra(EI200119060)

Technical Seminar Presentation – 2004-05

Presented by :- Bikram Kumar Mishra(EI200119060)