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Proceedings Paper

Independent tube verification and dynamic tracking in eddy current inspection of nuclear steam generators
Author(s): Zhongxue Gan; Lance Fitzgibbons; Jeffrey Katz
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Paper Abstract

A system, called Independent Tube Verification System (GENESIS ITVS(superscript TM)), was developed by ABB based on a Cognex MVS-8200 vision processor and its application function package. The system employs a model-based tube-shape detection algorithm and dynamic tracking methodology to detect the true tool position and its offsets from the identified tube location. GENESIS ITVS(superscript TM) works independent of the robot position, velocity, or acceleration. The tube position information is solely obtained from the actual images. The direction of motion and orientation of the robot can be predicted through the second-order dynamic tracking algorithm. The absolute coordinates of the tube can be determined through an accumulation of the image coordinates.

Paper Details

Date Published: 9 May 2000
PDF: 6 pages
Proc. SPIE 4077, International Conference on Sensors and Control Techniques (ICSC 2000), (9 May 2000); doi: 10.1117/12.385603
Show Author Affiliations
Zhongxue Gan, ABB (United States)
Lance Fitzgibbons, ABB (United States)
Jeffrey Katz, AAP (United States)

Published in SPIE Proceedings Vol. 4077:
International Conference on Sensors and Control Techniques (ICSC 2000)
Desheng Jiang; Anbo Wang, Editor(s)

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