A small climbing robot for the intelligent inspection of nuclear power plants

Guan, Da Lu; Lei, Yan; Yang, Yibo; Xu, Wenfu

doi:10.1109/icist.2014.6920522

Cited by 6 publications

(5 citation statements)

References 12 publications

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“…Leibbrandt et al [ 105 ] designed a wall-climbing robot that can be attached to the bottom of a bridge to detect cracks. For the pier and abutment parts of a bridge, a wall-climbing robot can be utilized for crack detection [ 106 , 107 , 108 ]. In addition, Jang et al [ 109 ] developed a ring-shaped wall-climbing robot (see Figure 3 ), which can realize the automatic detection of cracks on bridge piers at high altitudes, avoiding the safety hazards presented by working at high altitudes.…”

Section: Cv-based Surface Defect Detectionmentioning

confidence: 99%

Computer Vision-Based Bridge Inspection and Monitoring: A Review

Luo,

Kong,

Zhang

et al. 2023

Sensors

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Bridge inspection and monitoring are usually used to evaluate the status and integrity of bridge structures to ensure their safety and reliability. Computer vision (CV)-based methods have the advantages of being low cost, simple to operate, remote, and non-contact, and have been widely used in bridge inspection and monitoring in recent years. Therefore, this paper reviews three significant aspects of CV-based methods, including surface defect detection, vibration measurement, and vehicle parameter identification. Firstly, the general procedure for CV-based surface defect detection is introduced, and its application for the detection of cracks, concrete spalling, steel corrosion, and multi-defects is reviewed, followed by the robot platforms for surface defect detection. Secondly, the basic principle of CV-based vibration measurement is introduced, followed by the application of displacement measurement, modal identification, and damage identification. Finally, the CV-based vehicle parameter identification methods are introduced and their application for the identification of temporal and spatial parameters, weight parameters, and multi-parameters are summarized. This comprehensive literature review aims to provide guidance for selecting appropriate CV-based methods for bridge inspection and monitoring.

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Section: Cv-based Surface Defect Detectionmentioning

confidence: 99%

Computer Vision-Based Bridge Inspection and Monitoring: A Review

Luo,

Kong,

Zhang

et al. 2023

Sensors

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“…To provide the automatic maintenance and inspection of these parts of the bridges, a considerable amount of studies focuses towards the mechanical design and development of different cable climbing robots [ 53 , 54 , 55 , 56 , 57 , 58 , 59 , 63 , 64 ]. The use of bipedal and quadruped legged robots has also been proposed for the inspection of civil infrastructures in general and the vertical structures of bridges in particular [ 87 , 92 , 93 , 94 , 95 , 96 , 97 , 98 ]. Table 4 summarizes some of the major characteristics of the different platforms for the NDE of bridges using a wide array of different robotic platforms and their respective sensory modalities.…”

Section: Technological Platformsmentioning

confidence: 99%

Review of Non-Destructive Civil Infrastructure Evaluation for Bridges: State-of-the-Art Robotic Platforms, Sensors and Algorithms

Ahmed

Gucunski

2020

Sensors

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The non-destructive evaluation (NDE) of civil infrastructure has been an active area of research in recent decades. The traditional inspection of civil infrastructure mostly relies on visual inspection using human inspectors. To facilitate this process, different sensors for data collection and techniques for data analyses have been used to effectively carry out this task in an automated fashion. This review-based study will examine some of the recent developments in the field of autonomous robotic platforms for NDE and the structural health monitoring (SHM) of bridges. Some of the salient features of this review-based study will be discussed in the light of the existing surveys and reviews that have been published in the recent past, which will enable the clarification regarding the novelty of the present review-based study. The review methodology will be discussed in sufficient depth, which will provide insights regarding some of the primary aspects of the review methodology followed by this review-based study. In order to provide an in-depth examination of the state-of-the-art, the current research will examine the three major research streams. The first stream relates to technological robotic platforms developed for NDE of bridges. The second stream of literature examines myriad sensors used for the development of robotic platforms for the NDE of bridges. The third stream of literature highlights different algorithms for the surface- and sub-surface-level analysis of bridges that have been developed by studies in the past. A number of challenges towards the development of robotic platforms have also been discussed.

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“…One approach to simplify the control problem of such PWCRs is the incorporation of a biped design [6], [10], [15], [19], [26], which limits the complexity of the system, but also the available DOFs and overall speed of the system.…”

Section: B Locomotion Mechanism 1) Leg-based Locomotionmentioning

confidence: 99%

“…7.3) [31] and (Fig. 7.5) [26] were designed for general structural inspection of hazardous environments, e.g. nuclear plants and toxic storage tanks.…”

Section: B Inspection Of Industrial Infrastructuresmentioning

confidence: 99%

“…7. Inspection of Industrial Infrastructures: (7.1) VIRIV [34] , (7.2) ROBICEN III [17] , (7.3) General inspection robot [31] , (7.4) SURFY [20] , and (7.5) Small Climbing Robot for the Intelligent Inspection of Nuclear Power Plants [26] . ) MACS [21] , (8.2) NDT PWCR [8] , (8.3) and (8.4) MORFI [22] which was designed for risk assessment of large infrastructure, mainly with regards to seismic risk, while keeping a low-cost profile in order to enable its commercial availability.…”

Section: Pwcrs For General Inspection Purposesmentioning

confidence: 99%

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A survey on pneumatic wall-climbing robots for inspection

Brusell

Ανδρικόπουλος

Nikolakopoulos

2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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The aim of this article is to present a survey on inspection applications of Pneumatic Wall-Climbing Robots (PWCR). In general, a PWCR utilizes negative pressure as its adhesion method, through mainly suction cups or negative pressure thrust-based mechanisms. Their main advantage being their ability to climb non-ferromagnetic surfaces, such as glass and composite materials, in comparison with climbing robots based on magnetic adhesion methods. A growing application area is the utilization of PWCRs for inspection purposes for accelerating the otherwise time consuming procedures of manual inspection, while offering the important advantage of protecting human workers from hazardous and/or unreachable environments. This article will summarize the key enabling inspection applications of PWCRs in the following areas: a) Construction, b) Industrial Infrastructures, as well as c) Aircraft applications.

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A small climbing robot for the intelligent inspection of nuclear power plants

Cited by 6 publications

References 12 publications

Computer Vision-Based Bridge Inspection and Monitoring: A Review

Computer Vision-Based Bridge Inspection and Monitoring: A Review

Review of Non-Destructive Civil Infrastructure Evaluation for Bridges: State-of-the-Art Robotic Platforms, Sensors and Algorithms

A survey on pneumatic wall-climbing robots for inspection

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