Robotic Search and Rescue through In-Pipe Movement

So far, we have been engaged in the research and development of various kinds of robots that could be applied to in-pipe inspections that existing methods (screw-drive type, parallel multi-modular type, and articulated wheeled type) cannot perform. In this chapter, we categorized each in-pipe inspection robot depending on its configuration and structure, which includes the design of the propulsive mechanism, steering mechanism, stretching mechanism, and the locations of the wheel and joint axes. On the basis of this classification and from a developer’s point of view, we also discussed the various kinds of robots that we have developed, along with their advantages and disadvantages

Design and Motion Planning of a Wheeled Type Pipeline Inspection Robot

The most popular method for transporting fluids, and gases is through pipelines. For them to work correctly, regular inspection is necessary. Humans must enter potentially dangerous environments to inspect pipelines. As a result, pipeline robots came into existence. These robots aid in pipeline inspection, protecting numerous people from harm. Despite numerous improvements, pipeline robots still have several limitations. This paper presents the design and motion planning of a wheeled type pipeline inspection robot that can inspect pipelines having an inner diameter between 250 mm to 350 mm. The traditional wheeled robot design has three wheels fixed symmetrically at a 120° angle apart from each other. When maneuvering through a curved pipeline, this robot encounters motion singularity. The proposed robot fixes the wheels at different angles to address this issue, allowing the robot to stay in constant contact with the pipe's surface. Motion analysis is done for the proposed and existing robot design to study their behavior inside the pipeline. The result shows that the proposed robot avoids motion singularity and improves mobility inside pipelines. 3d printing technology aids in the development of the proposed robot. The experimental tests on the developed robot inside a 300 mm-diameter straight and curved pipeline show that the robot avoids motion singularity

Advances in the inspection of unpiggable pipelines

The field of in-pipe robotics covers a vast and varied number of approaches to the inspection of pipelines with robots specialising in pipes ranging anywhere from 10 mm to 1200 mm in diameter. Many of these developed systems focus on overcoming in-pipe obstacles such as T-sections and elbows, as a result important aspects of exploration are treated as sub-systems, namely shape adaptability. One of the most prevalent methods of hybridised locomotion today is wall-pressing; generating traction using the encompassing pipe walls. A review of wall-pressing systems has been performed, covering the different approaches taken since their introduction. The advantages and disadvantages of these systems is discussed as well as their effectiveness in the inspection of networks with highly varying pipe diameters. When compared to unconventional in-pipe robotic techniques, traditional full-bore wall-pressing robots were found to be at a disadvantage

An Introduction to Trenchless Technology Piping (+Türkçe Özet)

The first reason for the preparation of this book is to share recent developments experienced in underground infrastructure technology with readers. It is the fact that innovative methods are becoming main route in underground piping constructions, renevations and rehabilitations. The second reason is to give awareness of trenchless technology in civil engineering and environmental engineering societies and world communities as well as the Turkish community. The development of new equipment and method and increased level of equipment sophistication and capabilities are driving forces of trenchless technology. A safe and successful trenchless project depends on skills, training and experience of operators, field personal and project inspectors. This book will be of use for all parties in a trenchless project as it provides planning, design, construction, inspection and project management concepts

Unmanned Robotic Systems and Applications

This book presents recent studies of unmanned robotic systems and their applications. With its five chapters, the book brings together important contributions from renowned international researchers. Unmanned autonomous robots are ideal candidates for applications such as rescue missions, especially in areas that are difficult to access. Swarm robotics (multiple robots working together) is another exciting application of the unmanned robotics systems, for example, coordinated search by an interconnected group of moving robots for the purpose of finding a source of hazardous emissions. These robots can behave like individuals working in a group without a centralized control

Climbing and Walking Robots

With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information

Internal in-service inspection of petrochemical storage tank floors to detect underside corrosion with Non-Destructive Testing Robot

This research develops a new robotics technology for the in-service inspection of floor plates of the majority for the world’s petrochemical storage tanks. The new robotic system aims to decrease inspection cost, reduce human inspector exposure to chemical and hazard environment during the inspection and eliminate tank outage entirely if the floor is found to contain no corrosion. The research focus is on the design and development of a Non-Destructive Testing Robot (NDTBOT) prototype that uses active buoyancy control for its locomotion mechanism and uses NDT ultrasound to measure floor plate thickness as an indication of corrosion thinning. The NDTBOT hops from one location of the floor to another location to make ultrasound thickness measurements of a tank floor, thus avoiding issues of motion on a dirty tank floor (due to oil sludge). Also, a novel radio frequency (RF) data communication system is investigated and developed that can operate while submerged in oil. This system allows control commands to be sent to the NDTBOT by an operator outside the tank and NDT data to be recovered for analysis. To evaluate the performance of the NDTBOT making thickness measurement in the tank, three types of measurement techniques were used. First, the real thickness was measured using a Vernier caliper, the second method used a standard hand-held ultrasonic thickness measurement instrument and finally the in-service inspection thickness measurements were made with the NDTBOT operating in a water tank. The NDTBOT thickness measurements with an immersion ultrasound probe obtained more accurate results than hand-held contact ultrasonic testing. Petrochemical storage tank size varies from 20 to 200 meters in diameter, rapid corrosion inspection in such tanks with a swarm of robots requires that a number of NDTBOTs be deployed inside the tank to perform the NDT. Such deployment needs coordination and control work between the robots to send the NDT data to the NDT inspector. Therefore, an investigation and experimental radio frequency wireless transmission is done in order to compare different radio frequency communication. Simulation with commercial software CADFEKO is used to perform simulation of RF wave transmission in petroleum and vegetable oil with selected radio frequencies of 200 MHz, 300 MHz, and 433 MHz. The experimental work and simulation results give confidence. The RF communication in petroleum medium is feasible for both control of NDTBOTs inside the tank and NDT data transmission back to a technician’s console placed outside the tank

NASA Technology Applications Team: Commercial applications of aerospace technology

The Research Triangle Institute (RTI) Team has maintained its focus on helping NASA establish partnerships with U.S. industry for dual use development and technology commercialization. Our emphasis has been on outcomes, such as licenses, industry partnerships and commercialization of technologies, that are important to NASA in its mission of contributing to the improved competitive position of U.S. industry. The RTI Team has been successful in the development of NASA/industry partnerships and commercialization of NASA technologies. RTI ongoing commitment to quality and customer responsiveness has driven our staff to continuously improve our technology transfer methodologies to meet NASA's requirements. For example, RTI has emphasized the following areas: (1) Methodology For Technology Assessment and Marketing: RTI has developed and implemented effective processes for assessing the commercial potential of NASA technologies. These processes resulted from an RTI study of best practices, hands-on experience, and extensive interaction with the NASA Field Centers to adapt to their specific needs. (2) Effective Marketing Strategies: RTI surveyed industry technology managers to determine effective marketing tools and strategies. The Technology Opportunity Announcement format and content were developed as a result of this industry input. For technologies with a dynamic visual impact, RTI has developed a stand-alone demonstration diskette that was successful in developing industry interest in licensing the technology. And (3) Responsiveness to NASA Requirements: RTI listened to our customer (NASA) and designed our processes to conform with the internal procedures and resources at each NASA Field Center and the direction provided by NASA's Agenda for Change. This report covers the activities of the Research Triangle Institute Technology Applications Team for the period 1 October 1993 through 31 December 1994

NASA Technology Applications Team: Commercial applications of aerospace technology

The Research Triangle Institute (RTI) is pleased to report the results of NASA contract NASW-4367, 'Operation of a Technology Applications Team'. Through a period of significant change within NASA, the RTI Team has maintained its focus on helping NASA establish partnerships with U.S. industry for dual use development and technology commercialization. Our emphasis has been on outcomes, such as licenses, industry partnerships and commercialization of technologies that are important to NASA in its mission of contributing to the improved competitive position of U.S. industry. RTI's ongoing commitment to quality and customer responsiveness has driven our staff to continuously improve our technology transfer methodologies to meet NASA's requirements. For example, RTI has emphasized the following areas: (1) Methodology For Technology Assessment and Marketing: RTI has developed an implemented effective processes for assessing the commercial potential of NASA technologies. These processes resulted from an RTI study of best practices, hands-on experience, and extensive interaction with the NASA Field Centers to adapt to their specific needs; (2) Effective Marketing Strategies: RTI surveyed industry technology managers to determine effective marketing tools and strategies. The Technology Opportunity Announcement format and content were developed as a result of this industry input. For technologies with a dynamic visual impact, RTI has developed a stand-alone demonstration diskette that was successful in developing industry interest in licensing the technology; and (3) Responsiveness to NASA Requirements: RTI listened to our customer (NASA) and designed our processes to conform with the internal procedures and resources at each NASA Field Center and the direction provided by NASA's Agenda for Change. This report covers the activities of the Research Triangle Institute Technology Applications Team for the period 1 October 1993 through 31 December 1994