Sensor-based autonomous pipeline monitoring robotic system

The field of robotics applications continues to advance. This dissertation addresses the computational challenges of robotic applications and translations of actions using sensors. One of the most challenging fields for robotics applications is pipeline-based applications which have become an indispensable part of life. Proactive monitoring and frequent inspections are critical in maintaining pipeline health. However, these tasks are highly expensive using traditional maintenance systems, knowing that pipeline systems can be largely deployed in an inaccessible and hazardous environment. Thus, we propose a novel cost effective, scalable, customizable, and autonomous sensor-based robotic system, called SPRAM System (Sensor-based Autonomous Pipeline Monitoring Robotic System). It combines robot agent based technologies with sensing technologies for efficiently locating health related events and allows active and corrective monitoring and maintenance of the pipelines. The SPRAM System integrates RFID systems with mobile sensors and autonomous robots. While the mobile sensor motion is based on the fluid transported by the pipeline, the fixed sensors provide event and mobile sensor location information and contribute efficiently to the study of health history of the pipeline. In addition, it permits a good tracking of the mobile sensors. Using the output of event analysis, a robot agent gets command from the controlling system, travels inside the pipelines for detailed inspection and repairing of the reported incidents (e.g., damage, leakage, or corrosion). The key innovations of the proposed system are 3-fold: (a) the system can apply to a large variety of pipeline systems; (b) the solution provided is cost effective since it uses low cost powerless fixed sensors that can be setup while the pipeline system is operating; (c) the robot is autonomous and the localization technique allows controllable errors. In this dissertation, some simulation experiments described along with prototyping activities demonstrate the feasibility of the proposed system

Calibration Considering the Direction of Rotation for Contact Type Three-Dimensional Position-Measuring Instruments

In Japan, the aging of sewage facilities due to long-term use has become a significant social issue. As a result, there has been a growing interest in portable and easy-to-operate standalone pipe inspection robots in recent years. However, the pipes being inspected not only have level differences due to joint connections but also pose a high risk of toppling over due to deterioration, collapses, and sludge caused by external disturbances. Many standalone robots address this by suppressing tipping through tire shape and axle adjustments. However, this method is for suppression and not complete prevention. Therefore, we are exploring a software-based approach to prevent tipping through control of robot movement and aiming to achieve advanced self-position estimation. Currently, we are in the stage of verifying this self-position estimation. However, due to the curved nature of the pipes, it is difficult to accurately measure the robot's position and orientation using conventional measurement instruments. Thus, we have developed a specialized three-dimensional position measurement instrument for pipe inspection robots. Furthermore, although we performed calibration in the translational direction of the instrument, while improvements in accuracy were observed in the translational direction, the accuracy in the rotational direction deteriorated. In this paper, we propose a method to simultaneously calibrate the translational and rotational accuracy of the instrument to address this issue. We discuss the mechanism model, calibration parameters, elimination of redundant parameters by introducing redundancy, and parameter estimation using the Newton method. Additionally, through comparative validation using the instrument, we confirm that the position accuracy after calibration is within the range of approximately ±1.0 mm, and the orientation accuracy is within the range of approximately ±0.3 degrees. This demonstrates the effectiveness of the proposed method.Published By: Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP) © Copyright: All rights reserved

Design of a Fully Autonomous Mobile Pipeline Exploration Robot (FAMPER)

Pipelines have been an integral part of our constructions for many centuries. However, need to be maintained, and the cost of maintenance continues to increase. Robots have been considered as an attractive alternative, and many different types of pipeline robots have been proposed in the past. Unfortunately many of them work under only very restricted environments such as customized pipelines, often have no vertical mobility, or can traverse through only a simple pipeline structure due to wired control. This thesis presents the design and implementation of a robot based on novel idea we call “caterpillar navigational mechanism”. A Fully Autonomous Mobile Pipeline Exploration Robot (FAMPER), for exploring pipeline structures autonomously has been built and its performance has been evaluated. We present the design of a robot based on wall-pressed caterpillar type for not only horizontal, but also vertical mobility in pipeline elements such as straight pipelines, elbows and branches, and its autonomous navigational system providing useful information for pipeline maintenance. FAMPER has been designed for 6 inch sewer pipes, which are predominantly used in urban constructions. The proposed design enables FAMPER to display formidable mobility and controllability in most of the existing structure of pipeline, and provides a spacious body for housing various electronic devices. Specifically, FAMPER is equipped with several sensors, and a high performance processor for autonomous navigation. We have performed experiments to evaluate the effectiveness of our architecture and we present here a discussion of the performed results

Mechatronics Design of an Autonomous Pipe-Inspection Robot

Pipelines require periodical inspection to detect corrosion, deformation and congestion with obstacles in the network. Autonomous mobile robots are good solutions for this task. Visual information from the pipe interior associated with a location stamp is needed for inspection. In this paper, the previous designs of autonomous robots are reviewed and a new robot is developed to ensure simple design and smooth motion. Images are processed online to detect irregularity in pipe and then start capturing high resolution pictures to conserve the limited memory size. The new robot moves in pipes and provides video stream of pipe interior with location stamp. The visual information can later be processed offline to extract more information of pipeline condition to make maintenance decisions

Autonomous pipeline monitoring and maintenance system: a RFID-based approach

Pipeline networks are one of the key infrastructures of our modern life. Proactive monitoring and frequent inspection of pipeline networks are very important for sustaining their safe and efficient functionalities. Existing monitoring and maintenance approaches are costly and inefficient because pipelines can be installed in large scale and in an inaccessible and hazardous environment. To overcome these challenges, we propose a novel Radio Frequency IDentification (RFID)-based Autonomous Maintenance system for Pipelines, called RAMP, which combines robotic, sensing, and RFID technologies for efficient and accurate inspection, corrective reparation, and precise geo-location information. RAMP can provide not only economical and scalable remedy but also safe and customizable solution. RAMP also allows proactive and corrective monitoring and maintenance of pipelines. One prominent advantage of RAMP is that it can be applied to a large variety of pipeline systems including water, sewer, and gas pipelines. Simulation results demonstrate the feasibility and superior performance of RAMP in comparison to the existing pipeline monitoring systems

Development and Control of Articulated Mobile Robot for Climbing Steep Stairs

In this paper, we develop an articulated mobile robot that can climb stairs, and also move in narrow spaces and on 3-D terrain. This paper presents two control methods for this robot. The first is a 3-D steering method that is used to adapt the robot to the surrounding terrain. In this method, the robot relaxes its joints, allowing it to adapt to the terrain using its own weight, and then, resumes its motion employing the follow-the-leader method. The second control method is the semi-autonomous stair climbing method. In this method, the robot connects with the treads of the stairs using a body called a connecting part, and then shifts the connecting part from its head to its tail. The robot then uses the sensor information to shift the connecting part with appropriate timing. The robot can climb stairs using this method even if the stairs are steep, and the sizes of the riser and the tread of the stairs are unknown. Experiments are performed to demonstrate the effectiveness of the proposed methods and the developed robot