Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection

This paper presents a new solution for inspecting and repairing defects in live gas pipelines. The proposed approach is the development of a modular and semi-autonomous vehicle system. The robotic system has a drive mechanism, capable of navigating and adjusting its orientation in various configurations of pipelines. Other features of the system are cable-free communications, semi-autonomous motion control as well as integration of sensory devices. The robotic system is designed to traverse in 150-300 mm diameter pipes through straight and curved sections, junctions and reducers. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. Unlike other available systems, the vehicle employs proprioceptive sensors to monitor its own states. The fuzzy logic controller is used to evaluate the sensor outputs such as speed, climbing angle and rate of change of climbing angle. This control technique allows the vehicle to drive and adapt in a partially observable gas pipe system. Laboratory experiment results are presented. The paper also describes a cable-free communication method for the system. A brief account of typical pipe environments and currently available inspection tools is presented as background information

Design of a semi-autonomous modular robotic vehicle for gas pipeline inspection

This is an article from the journal, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering [© IMechE ]. It is also available at: http://journals.pepublishing.com/content/119778This paper presents a new solution for inspecting and repairing defects in live gas pipelines. The proposed approach is the development of a modular and semi-autonomous vehicle system. The robotic system has a drive mechanism, capable of navigating and adjusting its orientation in various configurations of pipelines. Other features of the system are cable-free communications, semi-autonomous motion control as well as integration of sensory devices. The robotic system is designed to traverse in 150-300 mm diameter pipes through straight and curved sections, junctions and reducers. The vehicle control and navigation technique is implemented using a two-mode controller consisting of a proportional-integral-derivative (PID) and fuzzy logic control. Unlike other available systems, the vehicle employs proprioceptive sensors to monitor its own states. The fuzzy logic controller is used to evaluate the sensor outputs such as speed, climbing angle and rate of change of climbing angle. This control technique allows the vehicle to drive and adapt in a partially observable gas pipe system. Laboratory experiment results are presented. The paper also describes a cable-free communication method for the system. A brief account of typical pipe environments and currently available inspection tools is presented as background information

Miniature mobile sensor platforms for condition monitoring of structures

In this paper, a wireless, multisensor inspection system for nondestructive evaluation (NDE) of materials is described. The sensor configuration enables two inspection modes-magnetic (flux leakage and eddy current) and noncontact ultrasound. Each is designed to function in a complementary manner, maximizing the potential for detection of both surface and internal defects. Particular emphasis is placed on the generic architecture of a novel, intelligent sensor platform, and its positioning on the structure under test. The sensor units are capable of wireless communication with a remote host computer, which controls manipulation and data interpretation. Results are presented in the form of automatic scans with different NDE sensors in a series of experiments on thin plate structures. To highlight the advantage of utilizing multiple inspection modalities, data fusion approaches are employed to combine data collected by complementary sensor systems. Fusion of data is shown to demonstrate the potential for improved inspection reliability

Sistema inteligente de monitorización para la auscultación de tuberías mediante un robot

En este artículo se presenta el diseño, desarrollo e implementación de un sistema de monitorización para un robot de auscultación de tuberías en agujeros profundos. El cometido de estas tuberías es actuar como canalizaciones a la hora de inyectar materiales endurecedores del terreno, como paso previo a la realización de obras en infraestructuras subterráneas, como son los túneles. El diseño y la implementación de un sistema de monitorización tienen una serie de restricciones debido a su pequeño tamaño, condiciones de alta humedad y baja luminosidad. La tarea principal del sistema de monitorización es mejorar el seguimiento y localización del robot en el interior de tuberías de hasta 36 mm y realizar la monitorización mediante imágenes de modo que permita la trazabilidad de las labores realizadas en las infraestructuras. Para ello, en este trabajo se presenta el desarrollo de un sistema inteligente de visión e iluminación compuesto por una cámara de alta definición y un sistema de iluminación LED, el cual permite monitorizar el estado de la tubería y el recorrido llevado a cabo por el robot en el interior de la misma. Como corroboración experimental, los resultados serán comparados con los obtenidos mediante las mediciones realizadas con otro tipo de sensores, tales como inclinómetros, acelerómetros, etc. El robot ha sido probado en condiciones extremas realizando tareas de vigilancia y localización, obteniéndose unos resultados muy prometedores. El desarrollo de este robot pretende generar unas bases científicas y técnicas que ayuden a mejorar, e incluso sustituir, los sistemas comerciales existentes para la comprobación de la calidad y el cumplimiento de tolerancias en agujeros profundos para tuberías de poco diámetro llevados a cabo en obras para infraestructuras subterráneas, como son los túneles

Smart Sewer Assessment Systems

The need for accurate preventive assessment of sewer conditions is increasing world wide. The new method utilizes qualified inspection systems that are automated and that utilize artificial intelligence to assess whether or not a crack in the surface of the pipe exists. The KARO system is one example. Developed by the German Federal Ministry of Education, Science, Research, and Technology (BMBF) and four partners from both industry and research institutions. This system is composed of a mobile control and surveillance station, and a mobile robot