Sewer Robotics

Ahrary, Alireza

doi:10.5772/6051

Cited by 3 publications

(5 citation statements)

References 12 publications

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“…This robot consists of the main components listed below: KURT (Kanal-Untersuchungs-Roboter-Testplattform) [9] robot is a six-wheeled autonomous untethered robot with a dimension of 30×45×30cm. It has been successfully tested in a dry sewer at the premises of the Fraunhofer campus in Sankt Augustin.…”

Section: Carrier System Mobile Stationmentioning

confidence: 99%

“…For the control system, a notebook computer is used as CPU. [9] PIRAT (Pipe Inspection Real-Time Assessment Technique) [9] is a semi-autonomous tethered robot for the assessment of sewer condition which has been developed since 1993 in Australia. It is operated in 600mm sewer pipes from a surveillance unit by a human operator via a cable with a maximum length of 250m.…”

Section: Carrier System Mobile Stationmentioning

confidence: 99%

“…MAKRO robot[9] MAKRO (Mehrsegmentiger Autonomer KanalROboter/multi-segmented autonomous sewer robot)[9], developed by a German group since 1997, is a self-steering articulated, fully autonomous, un-tethered robot platform. It is designed for autonomous inspection in sewer pipes with a diameter range of 300 to 600mm at dry weather condition.…”

mentioning

confidence: 99%

“…9 shows the terrain of the manhole opening modeled in Solidworks based on the drawing of sewer at Pasir Ris / Tampines area. This helps to simulate the environment of the manhole opening for robot launching.…”

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confidence: 99%

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Design of tunnel robot for inspection of large-diameter sewerage tunnel

Law¹

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The used water superhighway is designed for used water collection, treatment, reclamation and disposal for the next 100 years of Singapore. It consists of trunk sewer, link sewer network and deep tunnel sewerage system. Tunnel maintenance is important to ensure the tunnel is in good working order to prolong its operating life. In-pipe robot is one of the important concepts to achieve automated tunnel maintenance such as inspection, cleaning and repairing because it can eliminate the risks that human always encounter in the tunnel. In order to identify available technologies that can be adopted in the design of the tunnel maintenance system, a study aimed to review existing pipeline and tunnel robots as well as hoisting system is then carried out. The robots can be classified into nine types of robotic system, namely PIG, Wheels, Crawler, Cylindrical, Legs, Inchworm, Helical, Snake and VVPIG type. The study implies that the research on pipeline and tunnel robot has been focusing on the maintenance of small diameter pipelines and it is seen that most of them just aim for short distance inspection. The scope of this works is to design a tunnel robot with a complete inspection system for large diameter tunnel inspections and a hoisting system for robot deployment. The robot must be waterproof , able to avoid sediment in the tunnel and has enough traction force for locomotion in the slippery condition. In this report, a preliminary design of the platform based on two types of locomotion, i.e. tracked and wheeled robot is carried out. Both track-based and wheel-based robots are simulated in CAD model to evaluate the functionality and feasibility of the design concept. The

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Section: Carrier System Mobile Stationmentioning

confidence: 99%

Section: Carrier System Mobile Stationmentioning

confidence: 99%

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confidence: 99%

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confidence: 99%

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Design of tunnel robot for inspection of large-diameter sewerage tunnel

Law¹

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“…As such, the proposed system is more suitable for inspecting motorway and railway tunnels instead of sewage tunnels. On the other hand, there are also sewerage robots to inspect sewerage system [21].…”

Section: Tunnel Inspection Systemsmentioning

confidence: 99%

Visual inertial odometry and lidar inertial odometry for mobile robot

Henawy¹

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from whom I have learnt a lot and who were generous with their continuous and kind support throughout my PhD journey till now. They have also regularly assisted me with helpful suggestions and guidance. Their effort is deeply appreciated.I would alos like to thank my family and friends for constantly cheering me on and pushing me to go forward in this long and arduous PhD journey. I gratefully acknowledge funding by the A*STAR SINGA for providing me with 4 years of Ph.D. scholarship. Lastly, I would like to thank my God, Jesus Christ, who I could not live without Him and I could not have done it without Him.

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