Developments in Inpipe Inspectionrobot: A Review

Elankavi, Rajendran Sugin

doi:10.26782/jmcms.2020.05.00022

Cited by 13 publications

(4 citation statements)

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“…1 shows examples of the Pipeline Inspection Gauge (PIG) [9,10], screw [16,17], inchworm [18][19][20][21][22][23][24], wall press [25][26][27][28][29], walking [30][31][32][33][34], caterpillar [35][36][37][38][39], and wheel type [40][41], [50][51][52], [42][43][44][45][46][47][48][49]. These popular forms of movement have drawbacks in addition to their benefits [53].…”

Section: Open Accessmentioning

confidence: 99%

Robotic Inspection Monitoring System for Pipelines

Baballe¹

2022

AIS

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The most popular method for transporting fluids and gases is through pipelines nowadays. Regular inspection is necessary for the pipelines to work correctly. Humans must not enter potentially dangerous environments to inspect these pipelines. As a result of this, pipeline robots came into existence. These pipe inspection robots help in pipeline inspection, protecting numerous people from harm since human beings cannot enter the pipes and inspect them in case there is any such or kind of damage that requires repair. Despite numerous improvements, pipeline robots still have several limitations. The introduction of this in pipe inspection robots helps to solve many problems, such as leakage of the gas or fluid pipelines, rustiness, and also if the pipe is broken from any part.

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Section: Open Accessmentioning

confidence: 99%

Robotic Inspection Monitoring System for Pipelines

Baballe¹

2022

AIS

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“…Robots designed for cavity structures are primarily classified as pipe robots (Elankavi et al, 2020). According to studies reported on pipe robots in Japan, Korea, and China, pipeline robots can be broadly classified into the following five types: wheeled, spiral, bionic, walking, and pressure wall pipeline robots.…”

Section: Introductionmentioning

confidence: 99%

ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme

Ma,

Dian,

Guo

et al. 2024

Journal of Field Robotics

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Mobile robots with the ability to climb provide significant advantages in equipment contact operation and maintenance. In this work, an arc‐surface‐adsorption hexapod (ASAH) robot is designed for a class of internal cavity‐cylindrical‐type electrical equipment (ICCEE). The target of robot reliable movement on the ICCEE surface obtains its priority to be solved. Therefore, a matched‐specific motion control scheme is proposed. First, the mechanisms, adaptability, and motility of the ASAH robot are analyzed from a kinematic point of view. Subsequently, to solve the arc surface movement problem, this study proposes a novel six‐three‐legged composite gait and a “trapezoidal” foot tip trajectory algorithm, which improve safety in robot support phase movements and adsorption accuracy in the swing phase, respectively. In addition, based on the motion gait and trajectory, an active adsorption scheme is added to compensate for the position error. Finally, both virtual and physical prototype are constructed for performance verification. The simulation results verify the effectiveness of the proposed scheme in facilitating accurate motion on internal and external arc surfaces with different diameters, with an error lower than 5.3 mm/rad and rad/mm for movements in the circumferential and axial directions, respectively. Experimental results and application performance in a nuclear power plant further verify the effectiveness of the gait and trajectory algorithm; an overall success rate of 85% in circumferential movement was achieved with a maximum load weight of 2.63 kg, representing 76% of the robot body weight.

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“…They use non-destructive evaluation (NDE) techniques such as ultrasonic, electromagnetic acoustic transducers (EMATs), eddy current, magnetic flux leakage (MFL), pulsed eddy current, or acoustic emission (AE) for detecting various types of defects in pipelines. The in-line inspection tools are expensive and require special pipe configurations [4]. They can only be deployed 2 of 19 in long pipes with a certain pressure and no sharp bends, valves, or branches [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Development of Permanently Installed Magnetic Eddy Current Sensor for Corrosion Monitoring of Ferromagnetic Pipelines

et al. 2022

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Permanently installed sensors are a cost-effective solution for corrosion monitoring due to their advantages, such as less human interference and continuous data acquisition. Some of the most widely used permanently installed corrosion sensors are ultrasonic thickness (UT) gauges. However, UT sensors are limited by the need for coupling agents between pipe surfaces and sensors. The magnetic eddy current (MEC) method, on the other hand, does not require couplant and can be used over insulations. With the development of powerful rare earth magnets, MEC sensors with low power consumption are possible, and there is the prospect of using them as permanently installed sensors. A novel wireless magnetic eddy current sensor has been designed and optimized using finite element simulation. Sensitivity studies of the sensors reveal that the excitation frequency is a critical parameter for the detection of corrosion defects. An in-depth explanation of the relationship between the sensitivity of the sensor and the excitation frequency is presented in this paper. The results of an accelerated corrosion test, conducted to simulate the service environment of the sensor, are also discussed. It was observed that the sensor signals are very sensitive to corrosion defects and show no subtle differences due to temperature and humidity changes.

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Developments in Inpipe Inspectionrobot: A Review

Cited by 13 publications

References 0 publications

Robotic Inspection Monitoring System for Pipelines

Robotic Inspection Monitoring System for Pipelines

ASAH: An arc‐surface‐adsorption hexapod robot with a motion control scheme

Development of Permanently Installed Magnetic Eddy Current Sensor for Corrosion Monitoring of Ferromagnetic Pipelines

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