IEPAS02 ABB Bailey distributed control system industrial DCS module card

Description

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And, because the robot enters the unit instead
of a human, no medical or environmental safety
team is required during inspection. Remarkably,
only two employees, a robot pilot and a top-side
equipment operator, are needed on-site during
a TXplore inspection, once the transformer has
been prepared →3. Overall, robotic inspection can
be completed in less than one day with only two
employees – a dramatic reduction in personnel,
time and cost compared to a standard human
inspection, which requires a large team and lasts
three or more days.
Validation
Whole system and subsystem investigations
were undertaken in the laboratory and at testing
facilities before pilot studies were conducted in
near-real-world installations. Tests were performed
for leakage, navigation capability, temperature and
chemical stability and possible oil contamination.
Prototypes were tested for leakage at various
temperatures for more than 96 hours under
pressure conditions that reached up to more
than twice the expected field pressures. Spatial
and depth navigation abilities were assessed in
seven different oil-filled tanks to determine robot
stability and to ensure that visual system could be
stabilized to support high quality images.

The impact of the robot prototype on the mineral
oil was evaluated in an elegant way: Two tanks
of oil were prepared, one with a volume of highly
contaminated oil (taken from a field transformer)
and one with 100 gallons of clean oil. A baseline set
of measurements were made for volumes of oil.
The robot was then placed in the tank of highly
contaminated oil for 6 hours. The robot was
removed and re-processed using ABB’s validated
cleaning and site preparation techniques.
Afterward, the remotely driven robot was placed
in the clean oil tank for an extended period. At this
point samples were retrieved from this oil tank
and analyzed to ascertain whether or not the robot
contaminated the second oil tank. The results were
then compared to the baseline results.