Article: Real-time sub-assembly identification through IMU data fusion with vision sensor for an inspection system Journal: International Journal of Nuclear Energy Science and Technology (IJNEST) 2023 Vol.16 No.2 pp.80 - 96 Abstract: The Prototype Fast Breeder Reactor (PFBR) is a two loop, sodium cooled, pool type reactor. The PFBR reactor core is made up of sub-assemblies holding core material in a hexagonal lattice. The Reactor Core Viewing System in Room Temperature (RCVS-RT) aids in the process of inspection of the reactor core components. It introduces a vision probe into the extracted sub-assembly slot to reach the grid plate top for inspection. This work explores fusing non-contact sensors to a vision sensor to achieve orientation recognition of the RCVS-RT since the orientation is completely lost during the deployment of camera probe. We achieve this by overlaying generated orientation information from non-contact sensors onto the vision data. We use the orientation of the RCVS-RT and the core geometry to generate a numbering scheme of the adjacent sub-assemblies. This allows for a straightforward identification of the subassemblies in the core while maintaining sterility of core components. Inderscience Publishers - linking academia, business and industry through research

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Title: Real-time sub-assembly identification through IMU data fusion with vision sensor for an inspection system

Authors: A. Thirumalaesh; N.A. Nibarkavi; S. Joseph Winston; Joel Jose; P.D. Rathika

Addresses: Robotics and Automation Engineering, PSG College of Technology, Coimbatore, Tamil Nadu, India ' Robotics and Automation Engineering, PSG College of Technology, Coimbatore, Tamil Nadu, India ' Remote Handling and Irradiation Experiments Division, Indira Gandhi Centre for Atomic Research, Kalpakkam, Tamil Nadu, India ' Steam Generator Inspection Devices Section, Indira Gandhi Centre for Atomic Research, Kalpakkam, Tamil Nadu, India ' Robotics and Automation Engineering, PSG College of Technology, Coimbatore, Tamil Nadu, India

Abstract: The Prototype Fast Breeder Reactor (PFBR) is a two loop, sodium cooled, pool type reactor. The PFBR reactor core is made up of sub-assemblies holding core material in a hexagonal lattice. The Reactor Core Viewing System in Room Temperature (RCVS-RT) aids in the process of inspection of the reactor core components. It introduces a vision probe into the extracted sub-assembly slot to reach the grid plate top for inspection. This work explores fusing non-contact sensors to a vision sensor to achieve orientation recognition of the RCVS-RT since the orientation is completely lost during the deployment of camera probe. We achieve this by overlaying generated orientation information from non-contact sensors onto the vision data. We use the orientation of the RCVS-RT and the core geometry to generate a numbering scheme of the adjacent sub-assemblies. This allows for a straightforward identification of the subassemblies in the core while maintaining sterility of core components.

Keywords: PFBR; RCVSRT; data fusion; orientation identification; sub-assembly numbering algorithm.

DOI: 10.1504/IJNEST.2023.132651

International Journal of Nuclear Energy Science and Technology, 2023 Vol.16 No.2, pp.80 - 96

Received: 27 Aug 2021
Received in revised form: 05 Apr 2022
Accepted: 08 Apr 2022
Published online: 07 Aug 2023 *

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Title: Real-time sub-assembly identification through IMU data fusion with vision sensor for an inspection system

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