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Operating Properties of the SW1000 Advanced Underwater Drone

Mounted with the Newton NM200EVT-1 Color Enhanced Visual Inspection and Laser Scanner

Precise, Reliable and Efficient In-Vessel Inspection and Dimensioning

Nuclear plant operators need precise measurements of as-built components located in-vessel and in the pools, or other underwater plant locations. These componets or surfaces need to be inspected in order to track cycle-to-cycle degradation and to obtain measurements of components in order to achieve a correct fit for fabricated replacement parts.The SW1000 Nuclear Underwater Drone with the NM200EVT-1 camera/scanner provides an advanced method of taking those measurements.

In-air laser scanners have existed for several years, but precise underwater laser scanning is much more challenging, especially within PWRs and BWRs. Newton-developed software makes underwater laser scanning possible in this environment by mitigating water turbulence, heat and radiation while producing a point cloud of great detail and density.

T he SW1000 Advanced Nuclear Drone allows for precise stable positioning of the NM200EVT-1 camera/scanner using similar techonogy to that employed on many air drones. The SW1000 can postion the NM200EVT-1 precisely in any orentation within the reactor to allow for the aquisition of pictures and scanns. Newton-developed positioning software makes underwater high resoution pictures and laser scanning possible in this environment. In additon, the Newton software allows for pre-progaming of the postions to aquire the pictures and measurements removing much of the load requirements from the operator

Operational Characteristics

• The SW1000 uses precise positoning software to hold position during the aquasition of pictures and laser scanning.
• The SW1000 mounted with the NM200EVT-1 laser scaner is able to scan a target as close as 6 in. (150mm) and out to a distance of almost 3 ft. (0.9M) for a scan coverage area of 2.1 ft. x 2.9 ft. (64 cm x 88 cm).
• The NM200EVT-1 laser scanner mounted on the SW1000 is designed to scan and capture much larger target areas by combining several point clouds together to form larger composites.
• The laser scanningsystem measures underwater targets to an accuracy of +/-.003 (0.067mm) while the color Enhanced Visual Inspection satisfies the requirements for MRP-227/ASME Section XI.
• In the visual observation mode, the fully controllable high-intensity LED ring array on the head illuminates the area and the ultra high-definition color camera transmits a color image to the control console screen to assist the operator for optimum positioning and visual inspection.In additon the SW1000 includes 4 other controllable lights to assist in visual inspection
• The control console powers and communicates with the SW1000 and NM200EVT-1 scanner through a cable via low-voltage DC power and signals, and the SW1000 sends control signals, pictures and scan results up via Gigabit Ethernet.
• All data aquiured by the SW1000 and the NM200EVT-1 is permanently stored for later analysis and study.

  

 

Picture to Point Cloud to CAD Example

The image at the left, from a standard IVVI video, shows a crack in a BWR steam dryer door. While it is possible to determine the length of the crack by traditional means, the width and surface condition can not be determined with any precision.
A NM200EVT-1 scan (in blue) of the same crack and processed with 3-D software, precisely captures the width at all points along the length (shown here in inches).

SW1000 Advanced Underwater Drone

  

The SW1000 is much smaller than other industry "swimmers".

The SW1000 is extremely easy to operate

Newton designed software makes the SW1000 very easy to operate and position.

The SW1000 is pre-programmable. Using utility drawings, areas for inspection can be programmed into the SW1000. This can significantly reduce operator load.

Point Cloud to CAD Example

The two images on the far left are initial point clouds from an NM200EVT-1 in-vessel scan of the same ratchet bolt from different angles. The third-party 3-D software (not included) combines multiple point clouds of the same object, producing the final measurable CAD model.