An automated miniature robotic vehicle inspection system

Gordon Dobie, Rahul Summan, Charles MacLeod, Gareth Pierce, Walter Galbraith

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

Abstract

A novel, autonomous reconfigurable robotic inspection system for quantitative NDE mapping is presented. The system consists of a fleet of wireless (802.11g) miniature robotic vehicles, each approximately 175 × 125 × 85 mm with magnetic wheels that enable them to inspect industrial structures such as storage tanks, chimneys and large diameter pipe work. The robots carry one of a number of payloads including a two channel MFL sensor, a 5 MHz dry coupled UT thickness wheel probe and a machine vision camera that images the surface. The system creates an NDE map of the structure overlaying results onto a 3D model in real time. The authors provide an overview of the robot design, data fusion algorithms (positioning and NDE) and visualization software.
LanguageEnglish
Title of host publication40TH Annual Review of Progress in Quantitative Nondestructive Evaluation
Subtitle of host publicationIncorporating the 10th International Conference on Barkhausen Noise and Micromagnetic Testing
Place of PublicationBaltimore
Volume1581
DOIs
Publication statusPublished - 18 Feb 2014
EventReview of Quantitative Non-Destructive Evaluation - Baltimore, United States
Duration: 21 Jul 201326 Jul 2013

Conference

ConferenceReview of Quantitative Non-Destructive Evaluation
CountryUnited States
CityBaltimore
Period21/07/1326/07/13

Fingerprint

Wheels
Robotics
Inspection
Robots
Chimneys
Data fusion
Computer vision
Visualization
Cameras
Pipe
Sensors

Keywords

  • robotic inspection system
  • NDE mapping
  • 3D models

Cite this

Dobie, G., Summan, R., MacLeod, C., Pierce, G., & Galbraith, W. (2014). An automated miniature robotic vehicle inspection system. In 40TH Annual Review of Progress in Quantitative Nondestructive Evaluation: Incorporating the 10th International Conference on Barkhausen Noise and Micromagnetic Testing (Vol. 1581). Baltimore. https://doi.org/10.1063/1.4865053
Dobie, Gordon ; Summan, Rahul ; MacLeod, Charles ; Pierce, Gareth ; Galbraith, Walter. / An automated miniature robotic vehicle inspection system. 40TH Annual Review of Progress in Quantitative Nondestructive Evaluation: Incorporating the 10th International Conference on Barkhausen Noise and Micromagnetic Testing. Vol. 1581 Baltimore, 2014.
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Dobie, G, Summan, R, MacLeod, C, Pierce, G & Galbraith, W 2014, An automated miniature robotic vehicle inspection system. in 40TH Annual Review of Progress in Quantitative Nondestructive Evaluation: Incorporating the 10th International Conference on Barkhausen Noise and Micromagnetic Testing. vol. 1581, Baltimore, Review of Quantitative Non-Destructive Evaluation, Baltimore, United States, 21/07/13. https://doi.org/10.1063/1.4865053

An automated miniature robotic vehicle inspection system. / Dobie, Gordon; Summan, Rahul; MacLeod, Charles; Pierce, Gareth; Galbraith, Walter.

40TH Annual Review of Progress in Quantitative Nondestructive Evaluation: Incorporating the 10th International Conference on Barkhausen Noise and Micromagnetic Testing. Vol. 1581 Baltimore, 2014.

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

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Dobie G, Summan R, MacLeod C, Pierce G, Galbraith W. An automated miniature robotic vehicle inspection system. In 40TH Annual Review of Progress in Quantitative Nondestructive Evaluation: Incorporating the 10th International Conference on Barkhausen Noise and Micromagnetic Testing. Vol. 1581. Baltimore. 2014 https://doi.org/10.1063/1.4865053