Development and Adaptability of In-Pipe Inspection Robots

Yahya, Nur Afiqah Binti Haji; Ashrafi, Negin; Humod, Ali Hussein

doi:10.9790/1684-11470108

Cited by 18 publications

(6 citation statements)

References 14 publications

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“…The typical way of resolving operational problems often involve improving the robot's equipment and programs to enable the robot to explore and detect its surroundings better. Examples of such improvements include deployments of advanced control methods [35], complex hardware enhancements [36], reconfigurable mechanisms [37], and algorithmic improvements [38], [39]. The robot eventually becomes more complex and costly to surpass environmental challenges during operation.…”

Section: Robot-inclusivity Principles For Modified Tactile Pavingmentioning

confidence: 99%

Automated Generation of Site Map Graphs for Robot-Inclusive Tactile Marker Placement

Yeo,

Muthugala,

Elara

2023

IEEE Access

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Navigation is a primary requirement for mobile robots as they encounter hazards during operation. To improve safety for robotic deployments, hazard alert systems could be integrated into their spatial environments to reduce robotic computational load and hardware requirements, while providing benefits to visually-impaired human users in the area. Modified tactile paving markers known as the Passive Auto-Tactile Heuristic (PATH) tiles are configured for robotic usage to aid in their navigation and hazard avoidance along with a specialized Tactile Sensor Module, while providing tactile cues to visually-impaired human users. This paper proposes a novel algorithm for generating standardized layouts of 'safe routes' from site plans of the robot's workspace as input. The creation of 'safe routes' is implemented by extracting site boundaries and outlines of interior obstacles of an input site plan, generating of the site's Medial Axis (MA) through its connectivity graph and overlaying the corresponding PATH tile types. This implementation is explored using the Rhinoceros3D CAD program, Grasshopper development platform and associated plugins for processing the site plan and visualization of the eventual routes. The algorithm is tested on 5 sites of varying spatial functions for validation.

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Section: Robot-inclusivity Principles For Modified Tactile Pavingmentioning

confidence: 99%

Automated Generation of Site Map Graphs for Robot-Inclusive Tactile Marker Placement

Yeo,

Muthugala,

Elara

2023

IEEE Access

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“…2.1 Selecting Different Operations, Advantages,and Defects Pipe climber robots have different structure in movement mechanism. [11][12][13] This difference causes some merits and defects that have shown in Table 1. As it has shown in previous study, [7] the wheel pressed type has more advantages in comparison with other robot types.…”

Section: Pipe Inspection Robot Considera-tionmentioning

confidence: 99%

Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines

Moshayedi

Fard

Liao

et al. 2019

IJRC

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Daily tasks mixed with the various applications in the robotic field. Since past, pipes have been used as the safe fluid transmitter. But gradually, these pipes affected by fatigue, cracking, leakage, sediment and breaking down. Also, sometimes humid environment and chemical products existing in the soil, causes rust and fatigue the pipes. All these problems lead to redundancy and impose high expenses for installation and maintenance. One of the recent inspection ways, is using the robot controller which leads to help and reduces the inspection time and preventive repairs activity. Besides, sometimes there are some unpleasant situation such as unfit pipes. It is obvious that in these conditions, doing inspection in toxic arena, narrow and meandering ways is impossible by human. So, designing a pipe inspection robot can be helpful in such circumstances. In this design, first, the former study, the way of operation, movement, mechanisms and advantages of each robot have studied. Then, by considering important parameters in designing, and sketching, making robot with the help of CATIA took place. This structure enjoys a regular mechanism design. It also has a proportional pipe diameter with the possibility of crossing through the slope routes. On the other hand, recording and processing of visual report, needs a camera and GUI toolbox written in Matlab. So image processing can help to exact investigation. One of the main difference of this research work over the various test on the platform, is hiring the mentioned toolbox which helps the operator to have the double investigation inside of the pipes. Moreover, the adjustable mechanism to pipe diameter, polyhedral movement and ascension power, relatively high efficiency in order to use frictional power and reducing repair and pause time are the advantages of this design. Also, observing the inner side of the pipe on the monitor, leads to reducing images. Moreover, its investigation by the introduced toolbox, causes more effective observation, more quickly diagnosis and analysis.

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“…The development of robots for inspecting confined spaces can be seen in the literature [14]. For example, the work [15] proposed a pipe inspection robot that detects defects, internal corrosion, cracks, and leakage in pipelines. In the field of cleaning, a mobile peristaltic-based duct-cleaning robot for flexible pipes was proposed that could bend as a snake while moving by contraction and expansion in the axial direction with a cleaning rate of up to 98.7% [16].…”

Section: Introductionmentioning

confidence: 99%

Falcon: A False Ceiling Inspection Robot

Muthugala

Apuroop

Padmanabha

et al. 2021

Sensors

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Frequent inspections are essential for false ceilings to maintain the service infrastructures, such as mechanical, electrical, and plumbing, and the structure of false ceilings. Human-labor-based conventional inspection procedures for false ceilings suffer many shortcomings, including safety concerns. Thus, robot-aided solutions are demanded for false ceiling inspections similar to other building maintenance services. However, less work has been conducted on developing robot-aided solutions for false ceiling inspections. This paper proposes a novel design for a robot intended for false ceiling inspections named Falcon. The compact size and the tracked wheel design of the robot allow it to traverse obstacles such as runners and lighting fixtures. The robot’s ability to autonomously follow the perimeter of a false ceiling can improve the productivity of the inspection process since the heading of the robot often changes due to the nature of the terrain, and continuous heading correction is an overhead for a teleoperator. Therefore, a Perimeter-Following Controller (PFC) based on fuzzy logic was integrated into the robot. Experimental results obtained by deploying a prototype of the robot design to a false ceiling testbed confirmed the effectiveness of the proposed PFC in perimeter following and the robot’s features, such as the ability to traverse on runners and fixtures in a false ceiling.

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Development and Adaptability of In-Pipe Inspection Robots

Abstract: Abstract:Robotics application has slowly increasing for the past 13 years. Much increase was seen in 2011.

Cited by 18 publications

References 14 publications

Automated Generation of Site Map Graphs for Robot-Inclusive Tactile Marker Placement

Automated Generation of Site Map Graphs for Robot-Inclusive Tactile Marker Placement

Design and Development of Pipe Inspection Robot Meant for Resizable Pipe Lines

Falcon: A False Ceiling Inspection Robot

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