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TECHNICAL NOTE

Technical Report
[Inspection Cell Visual Inspection and 3D Mapping]

Prepared by
Mr. Tim Pegg

Directed by
Dr. Phil Purnell

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CONTENTS
1

SUMMARY....................................................................................................................... 1

AIM.................................................................................................................................. 1

INTRODUCTION............................................................................................................. 1

VISUAL INSPECTION.....................................................................................................1

4.1

Direct Viewing........................................................................................................... 2

4.2

Indirect Viewing crawler-cam.................................................................................2

4.3

Indirect Viewing fixed CCTV..................................................................................2

4.4

Indirect Viewing Endoscope [1]..............................................................................3

4.5

Indirect Viewing Master/Slave Manipulator held CCTV..........................................4

3D MAPPING...................................................................................................................4
5.1

How it works.............................................................................................................4

5.2

Accuracy...................................................................................................................5

5.3

Positions of 3D mapping equipment.........................................................................7

DISCUSSION.................................................................................................................. 9

CONCLUSION............................................................................................................... 10

BIBLIORGAPHY............................................................................................................ 10

REFERENCES.............................................................................................................. 10

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INSPECTION CELL VISUAL INSPECTION AND 3D MAPPING

1

SUMMARY

This technical note discusses Visual Inspection and 3D Mapping. Visual Inspection may
be direct, that is, through a protective window, or indirect, using cameras. 3D Mapping is
an optical technique for recording the envelope dimensions of a package. Each mapping
of a package is stored on a database so that future mappings can be compared to
previous mappings, thus highlighting any dimensional changes. It is proposed that two
Visual Inspection methods are used, along with 3D mapping. The Visual Inspection would
be direct, looking through an oil filled shielded window, and indirect, using an through-wall
Endoscope with built in camera.

AIM

To find methods that will create a smooth process of comprehensive, effective inspection
and ensure the safe storage of the radioactive waste. A thorough procedure will allow
faulty packages to be detected, and sent for reworking or overpacking where necessary.

INTRODUCTION

A separate technical report, Inspection Processes and Methods, considers all the
methods of inspection and discusses the preferred processes for an overall inspection
routine. However, this report considers two of these methods in more detail Visual
Inspection and 3D Mapping. The advantages and disadvantages of each are discussed
and a preferred method recommended.

VISUAL INSPECTION

Visual inspection is one of the inspection methods proposed for use in the Inspection
Cell. This section discusses the pros and cons of Visual Inspection and the means by
which it could be implemented into the Inspection Cell.
Visual inspection could be conducted in any of following:
Direct Viewing - workers looking at packages through shielded windows
Indirect Viewing crawler-cam cameras mounted on robotic crawlers that
move within the hot cell
Indirect Viewing with fixed CCTV within the cell
Indirect Viewing with an Endoscope
Indirect Viewing with Master/slave Manipulator held CCT

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4.1

Direct Viewing

Workers would view a package through an oil filled shielded window of thickness
approximately 1.2m. needs to be referenced !!!!!!!!!!!
Advantages

Direct Viewing is carried out by humans so little maintenance is

required.

Maintenance is straightforward includes monthly inspection of oil

reservoir levels and annual light transmissibility check.

Completed on a real-time basis. Direct Viewing provides an instant

output to the viewer.

Disadvantages

Accuracy may vary depending on the eyesight of the viewer

Yellow colour of the glass will impair viewing to some extent.

Impossible to compare results with previous ones. Experience of the

viewer will mitigate this problem.

4.2

Indirect Viewing crawler-cam

Cameras are mounted on radio controlled robotic crawlers that move around the hot cell,
sending images to a remote monitor.
advantages

Cameras can zoom in on critical areas at any angle, enhancing the

accuracy of the inspection.

disadvantages

Maintenance would need to be carried out remotely in the hot area

using Master/Slave Manipulators. If completed in a cold area, the
crawler-cam would need to be decontaminated beforehand.

I havent got a manufacturer of these things!!!

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4.3

Indirect Viewing fixed CCTV

Cameras would be fixed at the base, mid-height, and above a package inspection area.
advantages

Cameras can zoom in on critical areas

Cheaper than Endoscopes.

Can have built in lights

disadvantages

Maintenance would need to be carried out remotely in the hot area

using Master/Slave Manipulators. If completed in a cold area, the
CCTV camera would need to be decontaminated beforehand.

4.4

Large size (could be upto 1m in length).

Indirect Viewing Endoscope [1]

The endoscope would pass through the Inspection Cell Wall from the cold to hot area.
advantages

Ability to pan, rotate 360 and 90 tilt in direction of viewing

Cameras can zoom in on critical areas

Dome acts as a seal against contamination from hot area so the

control electronics, drive motors and camera are all accessible from
the cold side.

True colour representation. (No yellow tint as in 4.1 Direct Viewing)

Zoom 6x

Only extends into the hot area a short distance. (2-3cm)

disadvantages

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Needs additional lighting

Twice the price of fixed CCTV.

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Figure 1 - Rendering of Endoscope in the Inspection Cell1

Figure 2 Schematic of Endoscope.1

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4.5

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Indirect Viewing Master/Slave Manipulator held CCTV
advantages

Ability to pan, rotate 360 and 90 tilt of direction of view

Cameras can zoom in on critical areas

Cameras can be held within a 2-3cm of package for very detailed

viewing

Can have built in lights

Protective gaiters keep the camera from the hot side

disadvantages

Needs additional lighting

Maintenance would need to be carried out remotely in the hot area

using Master/Slave Manipulators. If completed in a cold area, the
CCTV camera would need to be decontaminated beforehand.

Price?????

3D MAPPING

After entering the PGRC for the first time, a package will be mapped in an Inspection
Cell, before being emplaced in the associated Storage Vault. This will provide a
reference map of the package. When the package returns to the Inspection Cell for any
reason, subsequent maps will be taken and compared to the reference map to note
changes in the envelope dimensions of the package.

5.1

How it works

A 2D pattern of light stripes is projected onto the object. The light stripes will reflect off the
object and reach the camera lens at different angles due to the non-flat surface of the
object. The pattern is imaged by means of a camera which is placed at an angle relative
to the light projector.

5.2

Accuracy

3D mapping can detect changes in envelope dimensions to approximately 1mm. Crack

detection is possible in that small areas of the drum can be zoomed in on and mapped.
For example, an area of 0.1x0.1m would detect changes in dimensions of 0.001mm). [2]

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Figure 3 Specifications of 3D Mapping system [3]

Figure 4 Example of comparison of a subsequent map and a reference map. [3]

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Yellow is zero deviation from the reference map, while red corresponds to +1mm and
blue corresponds to a -1mm change.

Figure 5 - Schematic of 3D Mapping system [2]

5.3

Positions of 3D mapping equipment

To inspect the entire package envelope, the 3D mapping equipment will either be moved
to different heights or three sets of equipment will be setup at the base, middle and top
of the shielded window. The following figures assume that the mapping equipment can be
moved.
To map the sides of a package, the 3D mapping equipment will be located as in Figure 6.
The package will be rotated such that all sides are mapped.

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Figure 6 3D mapping the sides of a package

To map the top of the package, the 3D mapping equipment will move to the top of the
window.

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Figure 7 3D mapping the top of a package

To map the base of the package, the 3D mapping equipment will move to the base of
the window and the package will be lifted.

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Figure 8 3D mapping of the base of a package

DISCUSSION

Despite disadvantages of direct viewing such as the reliance on the experience of the
viewer and yellow tint of the oil filled glass, it is felt that direct Visual Inspection should be
included as a method of inspection. This is the closest inspection method to actual
physical inspection. Furthermore, it is considered that any independent inspectors visiting

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the PGRC would much prefer to actually see the waste packages for themselves. And
finally, maintenance is minimal.
It is unclear at this stage whether suitable cameras are already available to be used in a
crawler-cam. Having a mobile camera seems only to add complexity, when a fixed CCTV
camera option is available, and many suitable models already on the market. [4]
Nevertheless, using cameras in the hot area of the Inspection Cell would mean a more
complicated method of maintenance and they can be upto 1m in length. Although more
expensive and with the added requirement of external lighting., the Endoscope option
would provide detailed inspection with no maintenance issues as the camera and other
moving parts would always be connected to the cold side. It would also not take up
space in the Inspection Area and thus the package could be located closer to the
shielded window.
A camera held by the Master/Slave manipulators seems a very reasonable option, as the
camera would have a light built in and manipulators could move it to any location and
angle around a package. The camera could be surrounded by protective gaiters.
However, it is not known whether this technique has been tried before.
The 3D Mapping takes only seconds to complete. As a package is mapped on entry to
the PGRC and also during subsequent inspections, 3D mapping provides a robust
comparison of a packages envelope dimensions over time and thus indicating any
pressure changes inside a container.

CONCLUSION

The minimal maintenance and the very fact that a viewer can physically see a package,
will mean direct Visual Inspection should be a part of the inspection process. Saving
space in the hot area, its ease of maintenance and proven track record are reasons to
also put forward the Endoscope indirect Visual Inspection method. 3D Mapping would
provide a quick, detailed examination, giving quantitative records that can track any
changes in a packages dimensions over time.

BIBLIORGAPHY

Sintef (2005). 3D shape measurement. [Online]. Viewed 2007 February 16. Available:
http://www.sintef.no/content/page1____6799.aspx

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9

REFERENCES

[1]

IST Corp. (unknown) ONLINE Radiation Tolerant Thru-Wall/Roof Viewing

System. [Online]. Last viewed 2007 March 11. Available:
http://www.istcorp.com/documents/ThruWall.pdf

[2]

Personal correspondence with ystein Skotheim. Sintef. (March 2007).

[3]

Skotheim,. ystein. (March 2007). Optical shape measurement with structured

light. [Online]. Viewed 2007 February 16. Available:
http://www.sintef.no/upload/IKT/OpticalMeasurementSystems/Fact
%20sheets/Structured_Light_Factsheet.pdf

[4]

IST Corp. (unknown) ONLINE Inspection: High Radiation Tolerant Cameras.

[Online]. Last viewed 2007 March 11. Available:
http://www.istcorp.com/high_rad_tol_cameras.html

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