Abstract
Prototype Fast Breeder Reactor (PFBR) has 8 Steam Generators (SG), each with 547 tubes connecting top and bottom headers. Sodium flows in the shell side and the water/steam in the tube side. The integrity of these tubes is ascertained by periodic in-service inspection (ISI) procedures. Remote Field Eddy Current Testing (RFEC) is preferred as the SG tubes are ferromagnetic. Inverse kinematic (IK) algorithm has been developed and implemented in the motion controller for two axis system. The precise reach of tubes is often limited due to errors introduced during deployment. This paper details the use of the joint axis motor encoders to compute the error vectors through a simple forward kinematics. Singular Value Decomposition (SVD) of the correlation matrix obtained from the transformed points reveal the Euler rotation matrix which is the error rotation of the device and subsequently the translation error matrix is deduced. The sensitivity study on calibration is also carried out by inducing errors in the vertical axis error measurement. This paper details the SG inspection device calibration method which reduces cost, time and effort for the inspection.
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Winston, S.J., Jose, J., Subramaniyan, A., Murugan, S., Bhaduri, A.K. (2016). Rigid Body Transformations for Calibration of Prototype Fast Breeder Reactor, Steam Generator Inspection Device. In: Vinod, B., Voyles, R., Vadakkepat, P., Sundaram, M., Sujatha, K., Brislin, J. (eds) Advancements in Automation, Robotics and Sensing. ICAARS 2016. Communications in Computer and Information Science, vol 627. Springer, Singapore. https://doi.org/10.1007/978-981-10-2845-8_3
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DOI: https://doi.org/10.1007/978-981-10-2845-8_3
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