Intelligent environment recognition and prediction for NDT inspection through autonomous climbing robot

Teixeira, Marco Antônio; Santos, Higor Barbosa; Dalmedico, Nicolas; Arruda, Lúcia Valéria Ramos de; Neves-Jr, Flávio; Oliveira, André Schneider de

doi:10.1007/s10846-017-0764-6

Cited by 23 publications

(13 citation statements)

References 24 publications

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“…With this thesis's focus on the study of sensors for use in mobile robots, the general objective was divided into four specific objectives. In the first specific objective, the work [Teixeira et al 2018] was developed, while in the second specific objective, the result was the work [Teixeira et al 2020]. For the third specific objective, the work [Teixeira et al 2019] was developed.…”

Section: Contextualizationmentioning

confidence: 99%

“…It is worth mentioning that some works were developed for congresses and book chapters and are not attached to this thesis. In the section 4, the work "INTELLIGENT ENVIRONMENT RECOGNITION AND PREDICTION FOR NDT INSPECTION THROUGH AUTONOMOUS CLIMBING ROBOT" [Teixeira et al 2018] was developed. This work aimed to develop a mapping strategy for an inspection robot for liquefied petroleum gas (LPG) tanks.…”

Section: Contextualizationmentioning

confidence: 99%

See 1 more Smart Citation

Mobile robots: a study on sensing and perception systems

Teixeira

Oliveira

Arruda

2021

Anais Estendidos Do XIII Simpósio Brasileiro De Robótica E XVIII Simpósio Latino Americano De Robótica (SBR/LARS Estendido 2021

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Sensors traditionally used in mobile robotics provide raw data. Most of this data is processed and converted into information. This thesis had to goal study traditional sensing techniques, using RGB and 3D sensors, and propose a new sensing approach embedded in a compact hardware, named the DeepSpatial sensor. To reach the goal, a study of point cloud processing in land robots and air flights was carried out, and later the hardware and software architecture was proposed for a new sensing approach. The thesis was developed in the collection of articles model, consisting of 4 articles published in journals, where each chapter presents the summary of each published paper.

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Section: Contextualizationmentioning

confidence: 99%

Section: Contextualizationmentioning

confidence: 99%

Mobile robots: a study on sensing and perception systems

Teixeira

Oliveira

Arruda

2021

Anais Estendidos Do XIII Simpósio Brasileiro De Robótica E XVIII Simpósio Latino Americano De Robótica (SBR/LARS Estendido 2021

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“… Sensors for perception of the environment previously attached to AIR1. Depth cameras and Lidar sensors were used to map the tanks and to predict the sizes of spherical pressure vessels (adapted from [ 34 ]). …”

Section: Figurementioning

confidence: 99%

Human–Robot Interface for Embedding Sliding Adjustable Autonomy Methods

Palar

Terres

Oliveira

2020

Sensors

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This work discusses a novel human–robot interface for a climbing robot for inspecting weld beads in storage tanks in the petrochemical industry. The approach aims to adapt robot autonomy in terms of the operator’s experience, where a remote industrial joystick works in conjunction with an electromyographic armband as inputs. This armband is worn on the forearm and can detect gestures from the operator and rotation angles from the arm. Information from the industrial joystick and the armband are used to control the robot via a Fuzzy controller. The controller works with sliding autonomy (using as inputs data from the angular velocity of the industrial controller, electromyography reading, weld bead position in the storage tank, and rotation angles executed by the operator’s arm) to generate a system capable of recognition of the operator’s skill and correction of mistakes from the operator in operating time. The output from the Fuzzy controller is the level of autonomy to be used by the robot. The levels implemented are Manual (operator controls the angular and linear velocities of the robot); Shared (speeds are shared between the operator and the autonomous system); Supervisory (robot controls the angular velocity to stay in the weld bead, and the operator controls the linear velocity); Autonomous (the operator defines endpoint and the robot controls both linear and angular velocities). These autonomy levels, along with the proposed sliding autonomy, are then analyzed through robot experiments in a simulated environment, showing each of these modes’ purposes. The proposed approach is evaluated in virtual industrial scenarios through real distinct operators.

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“…With the development of robotic technology, robots have been employed for decades to keep humans away from dangerous tasks and areas. Climbing is one of the most dangerous tasks for humans, and thus, wall climbing robots, as a branch of specialized robots, is expected to be adopted in place of humans for inspection of nuclear power plants and petrochemical industry [1,2,3].…”

Section: Introductionmentioning

confidence: 99%

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Sun

Chen

et al. 2021

Robotica

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Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

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Intelligent environment recognition and prediction for NDT inspection through autonomous climbing robot

Cited by 23 publications

References 24 publications

Mobile robots: a study on sensing and perception systems

Mobile robots: a study on sensing and perception systems

Human–Robot Interface for Embedding Sliding Adjustable Autonomy Methods

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

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