Robot for boiler header inspection "LS-01"

Mohd Zafri Baharuddin, Juniza Md Saad, Adzly Anuar, Iszmir Nazmi Ismail, Nur Maisurah, Hassan Basri, Nur Shahida Roslin, Syed Sulaiman Kaja Mohideen, Muhammad Fairuz Abdul Jalal, Khairul Salleh Mohamed Sahari

Research output: Contribution to journalConference article

10 Citations (Scopus)

Abstract

Inspection of boiler headers is routinely being performed in Tenaga Nasional Berhad (TNB) thermal power plants. It is very important to inspect boiler header from time to time to check for signs of possible failures because they are thick walled and exposed to various operating conditions. The currently used method is to insert a fiber optic camera probe into the boiler header entry manually by human. This work is very tedious and the inspector often has difficulties to acquire full coverage of the inner wall images. Therefore, it is proposed that a robotic system is developed to carry the fibre optic probe into the boiler headers and assist in a more efficient and reliablen boiler header inspection. The developed robot prototype must be small enough to enter the header and must also have the capability to traverse the whole length of boiler header while carrying the existing fibre optic probe as well as cater for boiler header with different diameters. LS-01, presented in this paper, is the first boiler header inspection robot prototype developed, equipped with semi-intelligent system and adjustable entry platform, and is capable of traversing inside boiler headers with various tube configurations. It has been tested in accordance with the engineering requirements set by TNB. Testing has shown the potential of the robot to be applied in a real boiler header inspection processes.

Original languageEnglish
Pages (from-to)1483-1489
Number of pages7
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
Fiber optics
Requirements engineering
Intelligent systems
Power plants
Robotics
Cameras
Testing

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

@article{5bb86069c4ac4744aabec090cc623ca8,
title = "Robot for boiler header inspection {"}LS-01{"}",
abstract = "Inspection of boiler headers is routinely being performed in Tenaga Nasional Berhad (TNB) thermal power plants. It is very important to inspect boiler header from time to time to check for signs of possible failures because they are thick walled and exposed to various operating conditions. The currently used method is to insert a fiber optic camera probe into the boiler header entry manually by human. This work is very tedious and the inspector often has difficulties to acquire full coverage of the inner wall images. Therefore, it is proposed that a robotic system is developed to carry the fibre optic probe into the boiler headers and assist in a more efficient and reliablen boiler header inspection. The developed robot prototype must be small enough to enter the header and must also have the capability to traverse the whole length of boiler header while carrying the existing fibre optic probe as well as cater for boiler header with different diameters. LS-01, presented in this paper, is the first boiler header inspection robot prototype developed, equipped with semi-intelligent system and adjustable entry platform, and is capable of traversing inside boiler headers with various tube configurations. It has been tested in accordance with the engineering requirements set by TNB. Testing has shown the potential of the robot to be applied in a real boiler header inspection processes.",
author = "Baharuddin, {Mohd Zafri} and {Md Saad}, Juniza and Adzly Anuar and Ismail, {Iszmir Nazmi} and Nur Maisurah and Hassan Basri and Roslin, {Nur Shahida} and Mohideen, {Syed Sulaiman Kaja} and {Abdul Jalal}, {Muhammad Fairuz} and {Mohamed Sahari}, {Khairul Salleh}",
year = "2012",
month = "1",
day = "1",
doi = "10.1016/j.proeng.2012.07.339",
language = "English",
volume = "41",
pages = "1483--1489",
journal = "Procedia Engineering",
issn = "1877-7058",
publisher = "Elsevier BV",

}

Robot for boiler header inspection "LS-01". / Baharuddin, Mohd Zafri; Md Saad, Juniza; Anuar, Adzly; Ismail, Iszmir Nazmi; Maisurah, Nur; Basri, Hassan; Roslin, Nur Shahida; Mohideen, Syed Sulaiman Kaja; Abdul Jalal, Muhammad Fairuz; Mohamed Sahari, Khairul Salleh.

In: Procedia Engineering, Vol. 41, 01.01.2012, p. 1483-1489.

Research output: Contribution to journalConference article

TY - JOUR

T1 - Robot for boiler header inspection "LS-01"

AU - Baharuddin, Mohd Zafri

AU - Md Saad, Juniza

AU - Anuar, Adzly

AU - Ismail, Iszmir Nazmi

AU - Maisurah, Nur

AU - Basri, Hassan

AU - Roslin, Nur Shahida

AU - Mohideen, Syed Sulaiman Kaja

AU - Abdul Jalal, Muhammad Fairuz

AU - Mohamed Sahari, Khairul Salleh

PY - 2012/1/1

Y1 - 2012/1/1

N2 - Inspection of boiler headers is routinely being performed in Tenaga Nasional Berhad (TNB) thermal power plants. It is very important to inspect boiler header from time to time to check for signs of possible failures because they are thick walled and exposed to various operating conditions. The currently used method is to insert a fiber optic camera probe into the boiler header entry manually by human. This work is very tedious and the inspector often has difficulties to acquire full coverage of the inner wall images. Therefore, it is proposed that a robotic system is developed to carry the fibre optic probe into the boiler headers and assist in a more efficient and reliablen boiler header inspection. The developed robot prototype must be small enough to enter the header and must also have the capability to traverse the whole length of boiler header while carrying the existing fibre optic probe as well as cater for boiler header with different diameters. LS-01, presented in this paper, is the first boiler header inspection robot prototype developed, equipped with semi-intelligent system and adjustable entry platform, and is capable of traversing inside boiler headers with various tube configurations. It has been tested in accordance with the engineering requirements set by TNB. Testing has shown the potential of the robot to be applied in a real boiler header inspection processes.

AB - Inspection of boiler headers is routinely being performed in Tenaga Nasional Berhad (TNB) thermal power plants. It is very important to inspect boiler header from time to time to check for signs of possible failures because they are thick walled and exposed to various operating conditions. The currently used method is to insert a fiber optic camera probe into the boiler header entry manually by human. This work is very tedious and the inspector often has difficulties to acquire full coverage of the inner wall images. Therefore, it is proposed that a robotic system is developed to carry the fibre optic probe into the boiler headers and assist in a more efficient and reliablen boiler header inspection. The developed robot prototype must be small enough to enter the header and must also have the capability to traverse the whole length of boiler header while carrying the existing fibre optic probe as well as cater for boiler header with different diameters. LS-01, presented in this paper, is the first boiler header inspection robot prototype developed, equipped with semi-intelligent system and adjustable entry platform, and is capable of traversing inside boiler headers with various tube configurations. It has been tested in accordance with the engineering requirements set by TNB. Testing has shown the potential of the robot to be applied in a real boiler header inspection processes.

UR - http://www.scopus.com/inward/record.url?scp=84900471166&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84900471166&partnerID=8YFLogxK

U2 - 10.1016/j.proeng.2012.07.339

DO - 10.1016/j.proeng.2012.07.339

M3 - Conference article

VL - 41

SP - 1483

EP - 1489

JO - Procedia Engineering

JF - Procedia Engineering

SN - 1877-7058

ER -