Mobile Robotics for Inspection and Maintenance in Extreme

Environments

Objectives for mobile robotics work

• Provide inexpensive, rugged and reliable platforms for remote inspection and maintenance activities

• Automate specific tasks in unstructured environment• Enhance capability of several NDE techniques • Advance NDE capabilities

– NDE data mapping over majority of boiler structure– Affordable means for complete (extensive) inspection on boilers,

etc, during scheduled outages

• Support variety of NDE inspection devices• Support a variety of maintenance tools• Advance technology in mobile robotics

Traxtor Mobile Robotics

• Synterprise is the primary sales agent for the technology.

• Work within specific utilities – predominantly TVA

• Focus on three areas– Coal-fired Boilers– External storage facilities– Hydroelectric facilities

Boiler Inspection Robots

Boiler Inspection Techniques

Surge Tanks

External Storage tanks

Features of Traxtor Robots

• Modular-unit design• Compliant parallel-gravity suspension• Active chassis system• Accommodate significant climbing features• 1:1 (or greater) payload-to-weight ratios• Permanent magnet foot design• Multiple dof tool-handling mechanisms on-board• Wireless, remote communications / operation• Automated data collection, report generation• Semi-autonomous operation

Commercial Platform

Features of Commercial Platformoverall dimension - 24x20x12 in. Standard attachment plate with lift

– multiple application

Payload - 50 lb Main transducers w/in robot chassis

Vehicle weight - 50 lb Semi-autonomous navigation

Integral pan/tilt/zoom hi-res camera, lights

Real-time position measurements

Halo On-board processor

100-200 ft. integrated tether Operation in boilers or tanks

Modular track units

Hands-free controller Battery or AC operation

Palm-based data acquisition Video or line-of-sight operation

Compatible with all Kraut Kramer, Panasonic, Sonatest flaw detectors

Currently configured for UT inspection with wheel probe

Traxtor Configurations