Development of 3D boiler header template using Webots

Nur Maisurah Hassan Basri, Khairul Salleh Mohamed Sahari, Syed Sulaiman Kaja Mohideen, Nur Shahida Roslin, Adzly Anuar

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

Offline boiler header inspection is a tedious process if done manually since the opening is very small to insert big instruments and tools while the length can range up to 20 m. The geometry can also be complex since boiler tubes are connected to these headers from different directions. Designing of robots to assist in offline boiler header inspections can be made easier if a simulator is available for deciding the parameters of the robot. This paper describes the development of a 3D boiler header pipe environment template for boiler header inspection robot (BHIR) using Webots. The purpose is to use it as a simulator for the development of BHIR prototypes. Firstly, 3D boiler header pipe environment is constructed by using Pro Engineer (Pro\E). Next, Virtual Reality Modeling Language or VRML97 is used to convert file from Pro\E world file to Webots world file. Finally, simulations are carried out to verify the effectiveness of the developed 3Dboiler header environment template. Results show the advantages of having the simulator for modeling and designing of BHIR prototypes.

Original languageEnglish
Pages (from-to)1463-1468
Number of pages6
JournalProcedia Engineering
Volume41
DOIs
Publication statusPublished - 01 Jan 2012
Event2nd International Symposium on Robotics and Intelligent Sensors 2012, IRIS 2012 - Kuching, Sarawak, Malaysia
Duration: 04 Sep 201206 Sep 2012

Fingerprint

Boilers
Inspection
Robots
Simulators
Pipe
Engineers
Virtual reality
Geometry

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Basri, Nur Maisurah Hassan ; Mohamed Sahari, Khairul Salleh ; Mohideen, Syed Sulaiman Kaja ; Roslin, Nur Shahida ; Anuar, Adzly. / Development of 3D boiler header template using Webots. In: Procedia Engineering. 2012 ; Vol. 41. pp. 1463-1468.
@article{5491d4e04e8d42e5bd0d80df263df906,
title = "Development of 3D boiler header template using Webots",
abstract = "Offline boiler header inspection is a tedious process if done manually since the opening is very small to insert big instruments and tools while the length can range up to 20 m. The geometry can also be complex since boiler tubes are connected to these headers from different directions. Designing of robots to assist in offline boiler header inspections can be made easier if a simulator is available for deciding the parameters of the robot. This paper describes the development of a 3D boiler header pipe environment template for boiler header inspection robot (BHIR) using Webots. The purpose is to use it as a simulator for the development of BHIR prototypes. Firstly, 3D boiler header pipe environment is constructed by using Pro Engineer (Pro\E). Next, Virtual Reality Modeling Language or VRML97 is used to convert file from Pro\E world file to Webots world file. Finally, simulations are carried out to verify the effectiveness of the developed 3Dboiler header environment template. Results show the advantages of having the simulator for modeling and designing of BHIR prototypes.",
author = "Basri, {Nur Maisurah Hassan} and {Mohamed Sahari}, {Khairul Salleh} and Mohideen, {Syed Sulaiman Kaja} and Roslin, {Nur Shahida} and Adzly Anuar",
year = "2012",
month = "1",
day = "1",
doi = "10.1016/j.proeng.2012.07.336",
language = "English",
volume = "41",
pages = "1463--1468",
journal = "Procedia Engineering",
issn = "1877-7058",
publisher = "Elsevier BV",

}

Development of 3D boiler header template using Webots. / Basri, Nur Maisurah Hassan; Mohamed Sahari, Khairul Salleh; Mohideen, Syed Sulaiman Kaja; Roslin, Nur Shahida; Anuar, Adzly.

In: Procedia Engineering, Vol. 41, 01.01.2012, p. 1463-1468.

Research output: Contribution to journalConference article

TY - JOUR

T1 - Development of 3D boiler header template using Webots

AU - Basri, Nur Maisurah Hassan

AU - Mohamed Sahari, Khairul Salleh

AU - Mohideen, Syed Sulaiman Kaja

AU - Roslin, Nur Shahida

AU - Anuar, Adzly

PY - 2012/1/1

Y1 - 2012/1/1

N2 - Offline boiler header inspection is a tedious process if done manually since the opening is very small to insert big instruments and tools while the length can range up to 20 m. The geometry can also be complex since boiler tubes are connected to these headers from different directions. Designing of robots to assist in offline boiler header inspections can be made easier if a simulator is available for deciding the parameters of the robot. This paper describes the development of a 3D boiler header pipe environment template for boiler header inspection robot (BHIR) using Webots. The purpose is to use it as a simulator for the development of BHIR prototypes. Firstly, 3D boiler header pipe environment is constructed by using Pro Engineer (Pro\E). Next, Virtual Reality Modeling Language or VRML97 is used to convert file from Pro\E world file to Webots world file. Finally, simulations are carried out to verify the effectiveness of the developed 3Dboiler header environment template. Results show the advantages of having the simulator for modeling and designing of BHIR prototypes.

AB - Offline boiler header inspection is a tedious process if done manually since the opening is very small to insert big instruments and tools while the length can range up to 20 m. The geometry can also be complex since boiler tubes are connected to these headers from different directions. Designing of robots to assist in offline boiler header inspections can be made easier if a simulator is available for deciding the parameters of the robot. This paper describes the development of a 3D boiler header pipe environment template for boiler header inspection robot (BHIR) using Webots. The purpose is to use it as a simulator for the development of BHIR prototypes. Firstly, 3D boiler header pipe environment is constructed by using Pro Engineer (Pro\E). Next, Virtual Reality Modeling Language or VRML97 is used to convert file from Pro\E world file to Webots world file. Finally, simulations are carried out to verify the effectiveness of the developed 3Dboiler header environment template. Results show the advantages of having the simulator for modeling and designing of BHIR prototypes.

UR - http://www.scopus.com/inward/record.url?scp=84901047540&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84901047540&partnerID=8YFLogxK

U2 - 10.1016/j.proeng.2012.07.336

DO - 10.1016/j.proeng.2012.07.336

M3 - Conference article

VL - 41

SP - 1463

EP - 1468

JO - Procedia Engineering

JF - Procedia Engineering

SN - 1877-7058

ER -