Robotic Non Destructive Testing - LSBU Open Research
Transcript of Robotic Non Destructive Testing - LSBU Open Research
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Robotic Non Destructive Testing
Centre for Automated and
Robotic Non Destructive Testing
Tariq Sattar
London South Bank University
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R&D of Mobile robots to provide
access and perform NDT of
• very large structures
• test sites located in dangerous and
hazardous environments
The aim is to
• reduce inspection costs, outage
times during planned outages
• Provide in-service inspection where
possible to eliminate outages
Robotic Non Destructive Testing (NDT)
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Internal
inspection of
Gas Boiler in
Power Plant
90m tall boiler,
tapered at the
bottom
Example where Robotic NDT would save time
and cost and improve Health & Safety
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Internal inspection of gas boiler using platforms
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Inspection after erecting scaffold
Roof Frame
Scaffolding
Support floor
Cable and Jack system
Main boiler structure
Five recent deaths due
to scaffold collapse
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Robotic Non Destructive Testing (NDT)
R&D of Mobile
robots to perform
ultrasound NDT of
horizontal and
vertical welds
Dimensions:
30m height
30m width
300m length
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Mobile robots to access large vertical structures and perform NDT
Hulls of ships, bridges, dams, tank walls,
buildings, etc.
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Wall climbing robots that use pneumatic suction cups
Worlds First
wall climber
1992
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Climbing NDT robots that use different adhesion techniques: permanent magnets, pneumatic suction cups and Vortex machines
CROCELLS ROBAIR VORTEX
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Advanced Wall climbing robot for the inspection of welds on cargo
containers ships
Permanent
magnets
Wireless
control and
data
acquisition
Ultrasonic
phased array
NDT
Mass 35Kg
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Ultrasound NDT Climbing Robot – adapts to surface curvatures
(concave or convex)
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STRONGMAN Permanent magnet adhesion wall climber carries
additional payloads of up to 50 kg
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Maximizing magnetic adhesion over large air gaps (Concrete
climbing using permanent magnets)
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Wall climbing robots for NDT, inspection and surveillance on non-ferrous surfaces
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VORTEX MACHINES: Wall climbing robots for NDT, inspection and surveillance on non-ferrous surfaces
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In-service inspection of petro-chemical storage tanks with
mobile robots – RobTank project
Worldwide, over 218,000 petrochemical storage tanks and 53,000
large storage tanks with diameter > 50m are mostly inspected with
outages. A large 100m diameter crude oil tank can be out of service for
up to 9 months
Existing tank floor inspection activities
Preparing recipient tank
Moving contents to the recipient tank
Opening the tank under inspection
De-gassing the tank
Cleaning the tank – Sludge removal
Manual Inspection conducted by personnel
Closing the tank after inspection
Refilling the tank
Checking seals, vents, hoses etc.
Average Total Cost €70000
80% of cost is opening and closing the tank
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Manual tank floor inspection, underside corrosion defects
CLEAN TANKS
Diameter 2 to 20
metres, fixed roof.
Visual inspection,
a few ultrasonic
thickness
measurements.
Crude oil tanks
floating roofs, dia
20 - 100 metres,
carbon steel. Floor
thickness of 6-
12.5mm,
Preparation: 6-9
months .Another 3-
6 months to clean .
Visual inspection
followed by MFL.
UT final method to
validate the
problem areas.
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ROBTANK: Mobile wall climbing robot enters through manholes on the
floating or fixed roof of a tank to inspect tank floor and internal walls
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Drain
outlet Welded
stud
180° 0°
B-Scan
line
with
origin
at
centre
Drain
outlet
Reflection
of drain
outlet in
tank wall
Welded stud on
tank floor
Top of
tank wall
Tank
floor weld
Corner of
tank floor
Tank
floor weld 27
0°
Mapping of floor defects using rotating
bulk wave ultrasonic technique
0
deg
360
deg
Corner
Side
Side
Drain
Side
Signal from drain outlet.
Tank welds0
deg
360
deg
Corner
Side
Side
Drain
Side
Signal from drain outlet.
Tank welds
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Floating Production Storage of Oil (FPSO)
Task: Inspect welds between strengthening
plates and tank floor • Outage required with cleaning of tank before
inspectors can enter tank – problem of disposal of
cleaning medium
• Eliminate outage by performing in-service inspection
with mobile swimming robots or empty without
cleaning and use amphibious robot
Two tanks
are
emptied,
cleaned
and
inspected
in 3-4
weeks
with 60-70
man-days
work and
costs
between
£30-40k.
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Scanning Arm mounted on
this face Ultrasonic
range finders
for detecting
walls and
strengthening
plates
Two motors, one for
wheel motion, the
other to change
direction of wheel
Thrusters
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FPSO swimming and floor inspection robot to inspect tank floors
and welds on strengthening plates
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SENSOR PAYLOAD
ACFM probes Weld inspection
5 kHz
8 sensors in 2 modules
corrosion sizing
50 kHz
2 Bz coils
Plate wave sensor: Sonatron S54008 2 MHz
65⁰ refracted angle
Dual creep wave sensor: RTD Crst4 4 MHz
Dual element
80⁰ refracted angle
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Inspection of rows of rivets on aircraft wings and fuselage with
a climbing robot
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ULTRASONIC PHASED ARRAYS to inspect
rivets on aircraft, ROBAIR project
EDDY CURRENTS inspection of rows of rivets on the
wings and fuselage of aircraft, ROBAIR project
Thermographic detection of loose rivets
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Circumferential weld
Nozzle weld
to safe end
Nozzle weld to
shell
Upper shell
Lower shell
Bottom head
Inspection of RPV Circumferential and
Nozzle welds
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Nozzle inspection robot
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Climbing ring robot for wind
turbine tower and pipe inspection
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The Ring Pipe Climbing Robot
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The DASHWIN European project : Climbing robot and 4 DOF arm
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Mooring chain climbing robot
Moorinspect
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Moorinspect Robot Design
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NDT with Long Range Ultrasound Guided wave collar
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Trials: Underwater tests
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FASTER INSPECTION OF CURRENTLY
UNPIGGABLE OIL PIPELINES
PigWaves project
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The PIGWaves solution
Small-sized, umbillical-free neutrally
buoyant robot able to swim/ float in oil
pipelines with internal diameter ranging
from 150-350mm.
LRUG collar uses ultrasonic guided waves
and time reversal focusing to identify
circumferential and axial pipe corrosion and
cracks
Robot communicates with base station at
entry point to send NDT data and locate
position of robot.
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Modular Design of Pigwaves
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Sensor collar: Long Range Ultrasonic Guided waves
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SUBSEA and DEEP SEA: The new frontier
90% of undiscovered hydrocarbon reserves
believed to be at depths of more than 1000m.
Already Gulf of Mexico fields at 1844m and
2438m
Diver inspection possible to max 150m without
dry hyperbaric habitat.
New tools required for Field Integrity
Management of risers, moorings, seafloor
support structures, FPSO’s
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FPSO Oil platform with
pre-tensioned
risers
Tie-back Risers
Pipelines from minor
fields
Risers from oil
wells
The floating platform, riser, flow-line and tie-back environment
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Radiography with gamma ray Ir-192
source
Outer sheath
Anti-wear
layer
Carcass
Internal pressure
sheath Interlocked pressure
armour Backup pressure
armour
Inner layer tensile armour
Outer layer
tensile armour
Anti-wear layer
Neptune: Ultrasound NDT
SubSea and Deep sea infrastructure: New frontier for use of Robotic NDT
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Conclusion
Robotic NDT has the potential to REDUCE
INSPECTION COSTS, improve the integrity
management of many safety critical infrastructure.
While many prototypes demonstrate the feasibility
of using mobile robots to perform NDT, very few
have been commercialized.
Opportunity
However, inexpensive technology is becoming
available to build smarter lightweight and compact
robots that can self-localize, use wireless
communications and control to eliminate
cumbersome umbilicals, and acquire better NDT
data. Could result in more widespread use.
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Robot Detectives: Sherlock Holmes meets Spiderman exhibit for
the Royal Societ of science and the Royal Academy of
Engineering
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Thank you