Newton NM200UW User manual

NM200UW
Nuclear Underwater Laser Scanner
User Manual
Version 2.1
January 30, 2014

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 2
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NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 3
CONTENTS
1. INTRODUCTION 6
2. HARDWARE 7
2.1. Components 7
Control Box 7
Cable 7
Scanner Head 8
Pan-Tilt Module (Optional) 8
D-Adapter (Deployment Hardware) 9
2.2. System Assembly/Setup 9
2.3. System Power Up 11
2.4. System Shut-down 11
2.5. System Disassembly/Breakdown 12
2.6. Scanner Hardware Maintenance and Turn-Around Procedures 13
Scanner System Turn-Around Procedures 13
3. SOFTWARE 15
3.1. Scanner Application 15
Language Selection 17
The NM200UW user interface has two language options: English and French. The scanner user
interface will load in English by default when first started. To choose a language, the “Languages”
dropdown menu in the taskbar located in the upper left corner of the scanner user interface may be
used. 17
Current View 17
Configuration Tabs 17
Information Bar 34
Status Panel 34
Settings Confirmation Box 35
3.2. Starting and Exiting the Scanner Software 36
Launching the Scanner Software Using Desktop Icons in Ubuntu 36
Scanner Software Startup Diagnostic Sequence 37
Closing the Scanner Software 37
Terminal Window 38
3.3 System Output 38
3.4 Scan Files to Copy 40
3.5. Post-Processing 41

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 4
4. DEPLOYMENT 42
4.1. Pre-Deployment Data Gathering and Scan Program Generation 42
4.2. Scanner Field of View and Scan Distance 42
4.3. Equipment Checkout and Preparation 44
Functional Test 44
FME Fastener Challenge Procedure 45
Optional Step –On-Site Qualification 46
4.4. Scanning Procedure Overview 47
4.5. Detailed Operation 49
Loading the Application 49
Scan Workflow 49
Figure 34: Scan workflow steps 50
Performing a Scan 50
Repeating Scans 66
4.6. Post Deployment 66
Removal from Underwater Environment and Decontamination 66
Data Copying and Removal 66
Equipment Storage 67
Data Analysis 68
5. ADVANCED OPERATION 69
5.1. Multi-Exposure Mode 69
5.2. HDR Mode 70
6. TROUBLESHOOTING 71
6.1 Settings File Load Failure 71
6.2 Licensing Failure 71
6.3 Microcontroller Failure 72
6.4 Camera Connection Failure 72
6.5. Temperature Alarm 73
6.6. Failure to Home/ Laser Mechanical Failure 73
6.7. Scanner Software Crash 74
6.8 Troubleshooting Flow Chart 74
Startup Troubleshooting 74
APPENDIX A –NEWTON NM200UW CAMERA HEAD 76

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 5
APPENDIX B - SYSTEM BLOCK DIAGRAMS 77
APPENDIX C –NM200UW 3D IMAGING COVERAGE MAP (ICM) 78

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 6
1. INTRODUCTION
The Newton Labs NM200UW Nuclear Underwater Laser Scanner uses proprietary computer
vision algorithms to determine the location in 3D space of objects in the field of view of the
imaging head. This is accomplished by sweeping a laser line across the scan region of interest
and measuring deviations in laser line straightness caused by variations in the depth of the
surface being scanned. The resulting position information is interpreted by the scanner
software and output as a collection of points in 3D space, a “point cloud” from which
surfaces and solid models may be generated using post-processing tools. These models may
then be measured to determine accuracy of drawings and for qualification of as-built
systems, structures and components.
The NM200UW represents a significant step forward in qualification of components and
systems compared to legacy inspection methods. Accuracy and consistency of measurements
are increased, and dose rates to personnel are reduced, in keeping with the commitment of
Newton Labs to ALARA enhancement tools.
In this manual, the hardware and software components of the NM200UW system will be
described in detail. Additionally, the necessary steps and actions required to deploy the
NM200UW during an outage will be covered, along with a troubleshooting guide to address
the handling of non-standard situations.
An electronic copy of this manual also resides in a folder on the Desktop of the Control Box.

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 7
2. HARDWARE
The NM200UW hardware consists of a camera head, a cable, and a ruggedized control box. A
substantial amount of research and development has gone into the technologies contained
within the hardware, with each of the three major components (described below) having
been purpose-built for the nuclear environment.
2.1. Components
Note that the NM200UW hardware has been designed to tolerate radiation exposure and
handle the rigors of deployment during reactor outages. However, the hardware
components are still precision instruments and should be handled with care.
Control Box
The control box is the “brain” of the NM200UW system. A shock-mounted, hard-sided case
containing a rack mounted PC and a camera control unit (see Figure 2). During transit and
storage, the control box also houses the monitor and keyboard/trackball.
Figure 1: Control box serialization Figure 2: Cable serialization
Cable
The standard length 150 foot long cable is terminated with waterproof connectors. The
connectors may vary slightly in appearance due to individual customer requirements. The
scanner cable may be identified by a machined groove on the stainless steel strain relief
housing located on the submerged side of the cable. Cable serial numbers are engraved onto
the side of the steel strain relief sheath.
NOTE: For customers using both the NM-200UW laser scanner and the NM200E Core
Verification System, the cables are NOT interchangeable.

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 8
Scanner Head
The waterproof camera head contains a high-resolution camera, a tuned laser and support
optics, mechanical structure for laser alignment and motion, and an LED lighting array. The
scanner head camera is filtered to admit only light at the wavelength of the LEDs, to avoid
ambient light interference in scanning. Included is a small hard-sided case for storage if the
system has been provided without an LSA container. See Appendix A for detailed information
about the scanner head. Scanner head serial numbers are engraved onto the side of the
enclosure or stamped into the connector at the base of the head.
Figure 3: Scanner serialization
Pan-Tilt Module (Optional)
The PT200UW Pan-Tilt is a waterproof module to allow the scanner head to be precisely
positioned around a target object or system quickly and easily to allow for multiple
overlapping scans. This module is installed between the cable and the camera head and
forms an integral part of the system. The Pan-Tilt module links to the upper surface of the
camera head via an integrated locking tab system, and features a mating connector for a
standard J-Hook pole on its upper face. It is operated remotely via a joystick located on the
front face of the Camera Control Unit. The Pan-Tilt Module is serialized on the body as well as
on the cable connector.
Figure 4: PT200UW Pan-Tilt

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 9
D-Adapter (Deployment Hardware)
Mounting bracket designed to allow the camera to be positioned statically in various
positions in increments of 45 degrees. This is a non-powered, manual alternative to the Pan-
Tilt module for J-Hook pole deployment. D-Adapters are not serialized and are
interchangeable.
Figure 5: D-Adaptor mounted onto a NM200UW
2.2. System Assembly/Setup
Figure 6: The camera head and cable (left), and the Control Box (right). Note the Camera Control Unit
(top, labeled "Newton"), and the rack-mounted PC (bottom).
1. Remove the front and rear molded plastic covers from the control box, orienting the
front panel (labeled with “Newton”) towards the operator.
2. The monitor is housed in a protective sleeve between the Camera Control Unit and
the rack-mounted PC. Slide the monitor out and remove it from the sleeve.
3. Remove the hinged post with captive nuts and monitor back plate from the storage
compartment on the inside of the control box lid.
4. Fasten the knurled nut from the base of the hinged post’s long arm to the threaded
boss on the base plate.

NM200UW Nuclear Underwater Laser Scanner User Manual
Newton Labs | 441 SW 41st Street, Renton, WA 98057, USA | 425-251-9600 | www.newtonlabs.com 10
5. Lower the short arm of the hinged post by adjusting the handle fastener, and then
fasten it into place.
6. Attach the monitor back plate to the rear of the monitor via the four dowel pins.
Fasten the captive thumb screw to secure the monitor to the back plate.
7. Attach the monitor to the hinged post by mating the square boss to the back plate’s
square cutout. Fasten the second knurled nut to secure the monitor to the post.
8. To swivel the monitor, support the assembly while unfastening the lower knurled nut,
rotate the assembly to the desired position, and refasten the nut.
9. To adjust the monitor’s tilt angle, support the monitor by hand while loosening the
handle fastener, adjust the tilt angle, and finally refasten the handle.
10. Locate the HDMI and power cables from the rear of the control unit and plug into the
monitor.
11. The USB keyboard/trackball unit will be located in a pouch contained in the interior
of one of the control box lids. This pouch will be restrained with a bungee cord.
12. Plug the USB cable from the keyboard into a USB port on the front panel of the rack-
mounted PC.
CAUTION: Do not yet power-up the control box.
13. Next, determine which end of the cable plugs into the camera and which mates with
the control box. Each end is keyed, preventing incorrect connection.
WARNING: Do not connect the cable at this time.
Once the appropriate connectors have been identified, uncoil the cable to the
desired length and move into its approximate final position.
CAUTION: It is very important to prevent any cable twisting, as it may affect
the integrity of the cable during deployment.
Ensure that the camera control unit and PC are not powered on prior to connecting
the cable. At this point the cable may be connected to the camera. It is advisable to
connect the cable to the camera head first, and then to the camera control unit.
Each connector has a threaded collar surrounding the keyed mating surfaces.
NOTE: Tighten the threaded collar by hand only.
14. Connect the control box to suitable wall power. It supports both American
(120V/60Hz) and EU (220V/50Hz) AC power standards. Simply use the appropriate
standard PC power cable with the correct plugs to switch between them. The
maximum current draw of the combined system is 2.6A.
NOTE: The Newton NRL-R2000 Control Unit is incompatible with some brands
of ground fault circuit interrupter (GFCI) equipment. If the control box does
not power on, replace the GFCI equipment.
15. Plug the included USB memory stick into one of the two front USB ports on the
control box. This is important, as the USB memory stick provides both redundant