Control system of a small intelligent inspection robot for nuclear power plant use

Erzhen Pan; Da Guan; Wenfu Xu; Bingshan Hu

doi:10.1109/ICInfA.2015.7279401

Control system of a small intelligent inspection robot for nuclear power plant use

Erzhen Pan
, Da Guan
, Wenfu Xu^*
, Bingshan Hu

^*Corresponding author for this work

Harbin Institute of Technology Shenzhen
Shenzhen Engineering Lab of Industrial Robots and Systems
Shanghai Key Laboratory of Spacecraft Mechanism

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability.

Original language	English
Title of host publication	2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	837-842
Number of pages	6
ISBN (Electronic)	9781467391047
DOIs	https://doi.org/10.1109/ICInfA.2015.7279401
State	Published - 28 Sep 2015
Externally published	Yes
Event	2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics - Yunnan, China Duration: 8 Aug 2015 → 10 Aug 2015

Publication series

Name	2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

Conference

Conference	2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics
Country/Territory	China
City	Yunnan
Period	8/08/15 → 10/08/15

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Climbing robot
Control system
Intelligent inspection
Nuclear robot

Access to Document

10.1109/ICInfA.2015.7279401

Cite this

Pan, E., Guan, D., Xu, W., & Hu, B. (2015). Control system of a small intelligent inspection robot for nuclear power plant use. In 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics (pp. 837-842). Article 7279401 (2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2015.7279401

Pan, Erzhen ; Guan, Da ; Xu, Wenfu et al. / Control system of a small intelligent inspection robot for nuclear power plant use. 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 837-842 (2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics).

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title = "Control system of a small intelligent inspection robot for nuclear power plant use",

abstract = "Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability.",

keywords = "Climbing robot, Control system, Intelligent inspection, Nuclear robot",

author = "Erzhen Pan and Da Guan and Wenfu Xu and Bingshan Hu",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics ; Conference date: 08-08-2015 Through 10-08-2015",

year = "2015",

month = sep,

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doi = "10.1109/ICInfA.2015.7279401",

language = "英语",

series = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics",

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}

Pan, E, Guan, D, Xu, W & Hu, B 2015, Control system of a small intelligent inspection robot for nuclear power plant use. in 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics., 7279401, 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics, Institute of Electrical and Electronics Engineers Inc., pp. 837-842, 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics, Yunnan, China, 8/08/15. https://doi.org/10.1109/ICInfA.2015.7279401

Control system of a small intelligent inspection robot for nuclear power plant use. / Pan, Erzhen; Guan, Da; Xu, Wenfu et al.
2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics. Institute of Electrical and Electronics Engineers Inc., 2015. p. 837-842 7279401 (2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Control system of a small intelligent inspection robot for nuclear power plant use

AU - Pan, Erzhen

AU - Guan, Da

AU - Xu, Wenfu

AU - Hu, Bingshan

PY - 2015/9/28

Y1 - 2015/9/28

N2 - Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability.

AB - Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed the control system for an intelligent monitoring robot used in nuclear power plants. The control system is actually a two-level controller, consisting of the host computer and lower computer. The host computer is a traditional PC, supplying the human-computer interface. It is also used for mission planning, control parameters setting, monitoring results processing and displaying, and so on. The lower computer is an ARM embedded controller. It is directly connected to all actuators and sensors. The real-time operation system uc/os-ii is also migrated to the ARM processor. It effectively manages the hardware resource and the multiple tasks in real time. Typical experiments verified the effectiveness and reliability.

KW - Climbing robot

KW - Control system

KW - Intelligent inspection

KW - Nuclear robot

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U2 - 10.1109/ICInfA.2015.7279401

DO - 10.1109/ICInfA.2015.7279401

M3 - 会议稿件

AN - SCOPUS:84959890136

T3 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

SP - 837

EP - 842

BT - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics

Y2 - 8 August 2015 through 10 August 2015

ER -

Pan E, Guan D, Xu W, Hu B. Control system of a small intelligent inspection robot for nuclear power plant use. In 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics. Institute of Electrical and Electronics Engineers Inc. 2015. p. 837-842. 7279401. (2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics). doi: 10.1109/ICInfA.2015.7279401

Control system of a small intelligent inspection robot for nuclear power plant use

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

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