Development of robotic boiler header inspection device

Khairul Salleh Mohamed Sahari, Adzly Anuar, Syed Sulaiman Kaja Mohideen, Mohd Zafri Baharuddin, Iszmir Nazmi Ismail, Nur Maisurah Hassan Basri, Nur Shahida Roslin, Mohd Azwan Aziz, Badrol Ahmad

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper discusses the development and actual site testing of an inspection robot designed for boiler header inspections in thermal power plants in Malaysia owned by Tenaga Nasional Berhad (TNB). The purpose of boiler headers are to tie up multiple boiler tubes together. Boiler headers are enclosed cylindrical pipes made of carbon steel, horizontal in nature, can range up to 25 m (from TNB database). These boiler headers are highly pressurized and high in temperature during operation, where the pressure goes up to a few bars and the temperature ranges between 500°C until 800°C. Due to the severe working conditions, these boiler headers are exposed to threats of possible failure due to corrosion, pitting and cracks. During outage, after acquiring approval from Department of Safety and Health (DOSH), a small cut is made on the entry point and a boiler header inspection robot (BHIR) is then deployed into the boiler header, carrying a fiber optic camera. BHIR is developed to visually inspect the inner wall of boiler headers and check for signs of failures. This paper discusses the limitations and requirements of the robot, the prototype and also the procedures for actual site testing. Lastly, the site testing results is explained.

Original languageEnglish
Title of host publication6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012
Pages769-773
Number of pages5
DOIs
Publication statusPublished - 01 Dec 2012
Event2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012 - Kobe, Japan
Duration: 20 Nov 201224 Nov 2012

Publication series

Name6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012

Other

Other2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012
CountryJapan
CityKobe
Period20/11/1224/11/12

Fingerprint

Boilers
Robotics
Inspection
Robots
Testing
Pitting
Outages
Fiber optics
Carbon steel
Power plants
Cameras
Pipe
Health
Corrosion
Cracks
Temperature

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Software

Cite this

Mohamed Sahari, K. S., Anuar, A., Mohideen, S. S. K., Baharuddin, M. Z., Ismail, I. N., Basri, N. M. H., ... Ahmad, B. (2012). Development of robotic boiler header inspection device. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012 (pp. 769-773). [6505345] (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012). https://doi.org/10.1109/SCIS-ISIS.2012.6505345
Mohamed Sahari, Khairul Salleh ; Anuar, Adzly ; Mohideen, Syed Sulaiman Kaja ; Baharuddin, Mohd Zafri ; Ismail, Iszmir Nazmi ; Basri, Nur Maisurah Hassan ; Roslin, Nur Shahida ; Aziz, Mohd Azwan ; Ahmad, Badrol. / Development of robotic boiler header inspection device. 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. pp. 769-773 (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012).
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abstract = "This paper discusses the development and actual site testing of an inspection robot designed for boiler header inspections in thermal power plants in Malaysia owned by Tenaga Nasional Berhad (TNB). The purpose of boiler headers are to tie up multiple boiler tubes together. Boiler headers are enclosed cylindrical pipes made of carbon steel, horizontal in nature, can range up to 25 m (from TNB database). These boiler headers are highly pressurized and high in temperature during operation, where the pressure goes up to a few bars and the temperature ranges between 500°C until 800°C. Due to the severe working conditions, these boiler headers are exposed to threats of possible failure due to corrosion, pitting and cracks. During outage, after acquiring approval from Department of Safety and Health (DOSH), a small cut is made on the entry point and a boiler header inspection robot (BHIR) is then deployed into the boiler header, carrying a fiber optic camera. BHIR is developed to visually inspect the inner wall of boiler headers and check for signs of failures. This paper discusses the limitations and requirements of the robot, the prototype and also the procedures for actual site testing. Lastly, the site testing results is explained.",
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Mohamed Sahari, KS, Anuar, A, Mohideen, SSK, Baharuddin, MZ, Ismail, IN, Basri, NMH, Roslin, NS, Aziz, MA & Ahmad, B 2012, Development of robotic boiler header inspection device. in 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012., 6505345, 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012, pp. 769-773, 2012 Joint 6th International Conference on Soft Computing and Intelligent Systems, SCIS 2012 and 13th International Symposium on Advanced Intelligence Systems, ISIS 2012, Kobe, Japan, 20/11/12. https://doi.org/10.1109/SCIS-ISIS.2012.6505345

Development of robotic boiler header inspection device. / Mohamed Sahari, Khairul Salleh; Anuar, Adzly; Mohideen, Syed Sulaiman Kaja; Baharuddin, Mohd Zafri; Ismail, Iszmir Nazmi; Basri, Nur Maisurah Hassan; Roslin, Nur Shahida; Aziz, Mohd Azwan; Ahmad, Badrol.

6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 769-773 6505345 (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AU - Ismail, Iszmir Nazmi

AU - Basri, Nur Maisurah Hassan

AU - Roslin, Nur Shahida

AU - Aziz, Mohd Azwan

AU - Ahmad, Badrol

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AB - This paper discusses the development and actual site testing of an inspection robot designed for boiler header inspections in thermal power plants in Malaysia owned by Tenaga Nasional Berhad (TNB). The purpose of boiler headers are to tie up multiple boiler tubes together. Boiler headers are enclosed cylindrical pipes made of carbon steel, horizontal in nature, can range up to 25 m (from TNB database). These boiler headers are highly pressurized and high in temperature during operation, where the pressure goes up to a few bars and the temperature ranges between 500°C until 800°C. Due to the severe working conditions, these boiler headers are exposed to threats of possible failure due to corrosion, pitting and cracks. During outage, after acquiring approval from Department of Safety and Health (DOSH), a small cut is made on the entry point and a boiler header inspection robot (BHIR) is then deployed into the boiler header, carrying a fiber optic camera. BHIR is developed to visually inspect the inner wall of boiler headers and check for signs of failures. This paper discusses the limitations and requirements of the robot, the prototype and also the procedures for actual site testing. Lastly, the site testing results is explained.

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Mohamed Sahari KS, Anuar A, Mohideen SSK, Baharuddin MZ, Ismail IN, Basri NMH et al. Development of robotic boiler header inspection device. In 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. 2012. p. 769-773. 6505345. (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012). https://doi.org/10.1109/SCIS-ISIS.2012.6505345