1. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 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 AUTOMATED INSPECTION OF AIRCRAFT

2. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 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

3. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 2. PROGRAM HIGHLIGHTS 2. PROGRAM HIGHLIGHTS FINAL-PHASE DEVELOPMENT MECHANICAL SYSTEM CONTROL SYSTEM SENSORS HUMAN-MACHINE INTERFACE

4. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 3. MECHANICAL SYSTEM DETAILS MECHANICAL DESIGN OF FIRST-PHASE ROBOT

5. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) SECOND-PHASE MECHANICAL IMPROVEMENTSSECOND-PHASE MECHANICAL IMPROVEMENTS SYSTEM PERFORMANCESYSTEM PERFORMANCE LONG-TERM MECHANICAL DESIGN ISSUESLONG-TERM MECHANICAL DESIGN ISSUES

6. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) ROBOT MOTIONS WALKING MOTION ALIGNMENT MOTION. Spine assembly raised Spine assembly motion Spine assembly lowered Stabilizer bridge moved

7. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) ON-BOARD ROBOT ELECTRONIC SYSTEMS GROUND-BASED ELECTRONIC SYSTEMS OPERATOR WORKSTATION COMPUTER SATELLITE EQUIPMENT ENCLOSURE 5 CONTROL SYSTEM DETAILS

8. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 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

9. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 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

10. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) CMRI VIDEO RIVET LOCATION ALGORITHMS NEURAL NETWORK RESULTS THIRD TRIAL: IMPROVED CAMERA SYSTEM RIVET LINE-FITTING ALGORITHM FEEDBACK SWITCHES

11. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060) 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..

12. Technical Seminar Presentation – 2004-05 Presented by :- Bikram Kumar Mishra(EI200119060)