Design and simulation of 5-DOF Vision-based manipulator to increase radiation safety for industrial cobalt-60 irradiators
Joint Authors
Sulayman, A. E.
Ruman, M. R.
Kishk, A. B.
Sharshar, K. A. A.
Source
Arab Journal of Nuclear Sciences and Applications
Issue
Vol. 49, Issue 3 (31 Jul. 2016), pp.250-261, 12 p.
Publisher
The Egyptian Society of Nuclear Science and Applications
Publication Date
2016-07-31
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Information Technology and Computer Science
Abstract EN
Robotics has proved its efficiency in nuclear and radiation fields.
Computer vision is one of the advanced approaches used to enhance robotic efficiency.
The current work investigates the possibility of using a vision-based controlled arm robot to collect the fallen hot Cobalt-60 capsules inside wet storage pool of industrial irradiator.
A 5-DOF arm robot is designed and vision algorithms are established to pick the fallen capsules on the bottom surface of the storage pool, read the information printed on its edge (cap) and move it to a safe storage place.
Two object detection approaches are studied; RGB-based filter and background subtraction technique.
Vision algorithms and camera calibration are done using MATLAB/SIMULINK program.
Robot arm forward and inverse kinematics are developed and programmed using an embedded microcontroller system.
Experiments show the validity of the proposed system and prove its success.
The collecting process will be done without interference of operators, hence radiation safety will be increased.
American Psychological Association (APA)
Sulayman, A. E.& Ruman, M. R.& Kishk, A. B.& Sharshar, K. A. A.. 2016. Design and simulation of 5-DOF Vision-based manipulator to increase radiation safety for industrial cobalt-60 irradiators. Arab Journal of Nuclear Sciences and Applications،Vol. 49, no. 3, pp.250-261.
https://search.emarefa.net/detail/BIM-724300
Modern Language Association (MLA)
Sulayman, A. E.…[et al.]. Design and simulation of 5-DOF Vision-based manipulator to increase radiation safety for industrial cobalt-60 irradiators. Arab Journal of Nuclear Sciences and Applications Vol. 49, no. 3 (Jul. 2016), pp.250-261.
https://search.emarefa.net/detail/BIM-724300
American Medical Association (AMA)
Sulayman, A. E.& Ruman, M. R.& Kishk, A. B.& Sharshar, K. A. A.. Design and simulation of 5-DOF Vision-based manipulator to increase radiation safety for industrial cobalt-60 irradiators. Arab Journal of Nuclear Sciences and Applications. 2016. Vol. 49, no. 3, pp.250-261.
https://search.emarefa.net/detail/BIM-724300
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 260-261
Record ID
BIM-724300