Battelle Develops Fuel Tank Robot to Aide Inspections
Today fuel tank maintainers have to climb into these dark, forbidding and stinking enclosures to inspect for scratches, corrosion, impact damage and debris. Among the potential hazards listed in a Boeing how-to document are "fire and explosion, toxic and irritating chemicals, oxygen deficiency, and the confined nature of the fuel tank itself." In addition, inspection carries the risk of further damaging the tank by scratching the mating surfaces of the access hole and cover or the interior surfaces of the tank or, as Boeing notes, by penetrating fuel tank bladders or striking and dislodging components such as fuel pumps, fuel quantity systems, associated wiring and conduits, and sealants. Even if all the recommended precautions are taken, this work is clearly a delicate and dangerous job.
The U.S. Air Force has made a number of attempts to automate the process, but the resulting systems have been too big, too slow or too difficult to learn, according to Battelle, a research and development company. The latest contender to attack the problem, Battelle claims to have a better design, a robotic system which is affordable, efficient and operable without a lot of specialized computer training. Battelle originally developed the Multi-Use Robotic System (MURS) under an Air Force feasibility demonstration program aimed at nondestructive inspection. A MURS prototype was tested in late 2007 in an actual B-52 wing tank.
Following the conclusion of the USAF program in December 2007, the company has continued to fund the project internally in order to mature the prototype and increase the speed of the control system. Technicians want to accelerate the computation that allows the robot to navigate around the tank in seven-dimensional space without bumping into anything. Battelle envisions ways "to build a high-performance [computer] architecture that’s still very affordable, very scalable, but will make the algorithms perform much, much faster," says Tim Lastrapes, Battelle program manager.
MURS is already pretty fast. Once assembled and installed in a fuel bay — a section of the wing tank separated by the ribs — MURS can perform an inspection, document its findings and generate an automated report in 30 to 45 minutes, says Lastrapes. The bay he refers to measures 5 to 6 feet tall, about 8 feet forward-to-aft and about 3 feet across.
MURS Anatomy
MURS features a six-degree-of-freedom, DENSO robotic arm mounted on a customized carriage system on a special track. This track can then be clamped to a curved surface like a wing tank. The approximately 3-foot-long arm, in its current configuration, travels along an 8-foot-long track (made of four 2-foot-long segments), enabling the robot to operate on a surface up to 14 feet long and 6 feet wide. That’s more than enough to cover the fuel bay in which it was originally demonstrated.
MURS uses a laser scanner — accurate to about 7 thousandths of an inch — to map and characterize the internal environment, forming a 3D image of a tank. The scanned data is then used to preprogram the robot’s path. The operator outside uses a computer to point and click on areas he wants the robot to inspect. A low-light-sensitive camera is mounted on the robot and an overview camera can be put into the tank to allow the operator to watch the robot. Multiple LED lights also are mounted on the robot.
But the core of the system is its software. Battelle has devoted considerable effort to developing software with motion algorithms allowing the calculation of collision-free paths from point to point. The company also mentions the idea of enhancing the software to allow the robot continuous motion, so that a maintainer could outline a trajectory for the robot to follow and monitor its progress, rather than specify a point or group of points.
Installation of the robot inside a tank bay takes less than 15 minutes, Battelle says. MURS meets the Air Force’s 32-pound, single-person lift standard: the robot arm with the plate that attaches to the carriage weighs about 27 pounds and the other components weigh 12 to 15 pounds apiece. The whole assembly comes in at about 90 pounds.
The advantages of semi-automated tank inspections are clear. A robot adapted to work in low light conditions, yet controlled by a knowledgeable individual, could permit the inspection process to be more consistent and thorough. Moreover, the approach would reduce the human maintainer’s exposure and discomfort in cramped and potentially toxic conditions by as much as 80 percent, he says. "That’s a huge thing."
If the technology ends up being adopted, there could be a sizable market. As Lastrapes points out, 90 percent or more of the Air Force fleet is 25 years or older, and the already aging B-52 fleet is expected to keep flying for another 40 years. The current MURS is also applicable to other large aircraft, such as the C-5, KC-135, E-3 or C-17, for example, the company says. Battelle is also looking at smaller, tactical aircraft, as well as at other applications such as painting and depainting. "Pretty much anything you can get a human arm to do," this robot could probably do, Lastrapes says.
— By Charlotte Adams
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