Robotics, non destructive inspection, tank inspection this phase I research project proposes to design a remotely controlled telescopic arm equipped with an end effect or capable of performing visual and ultrasonic inspection of tank internals. A vertical guide shaft would be inserted into the tank through a standard deck opening. The telescopic arm would be driven along the axis of the vertical guide by a pneumatic motor pneumatic motors would also rotate the arm about the vertical guide for angular orientation and would actuate a rack and pinion mechanism to extend and retract the telescoping arm for lateral orientation. The optical end effect or would transmit visual images to an above decks console through fiber optic cable enclosed within the arm. Ultrasonic data would be transmitted in a similar manner. Computer software would control the orientation of the arm. Sensors or lasers would provide signals to the console software identifying the orientation of the end effected inspection data would be stored on video tape and floppy disk. The entire system would be portable requiring three persons for assembly/ disassembly and one person for operation resulting savings of up to 90% over conventional tank inspection. Res: phase I research and phase II prototype development will result in commercialization of production systems marketable national and international testing firms and ship owners as well as the federal government.
