Control System for Reactor Vessel Inspection Manipulator


The goal of this project is to develop a system for control and visualization of a manipulator for weld inspection of nuclear reactor vessels. Based on a client-server TCP/IP software architecture, the control system enables an operator to perform the entire inspection procedure remotely over network, avoiding exposure to dangerous radiation which is commonly present in nuclear reactor environments. The developed graphical user interface provides all necessary tools needed for planning robot scan trajectories, their verification on a virtual 3D model and execution on a remote robot. The system also provides that the weld inspection process can be observed in parallel on a virtual robot and reactor vessel model and on live video streams captured by two special cameras mounted on the robot.


Hrid.d.o.o., Zagreb



Principal investigator

Zdenko Kovacic