{"id":{"repo_id":"regina","oai_identifier":"oai:uregina.scholaris.ca:10294/14400"},"canonical_url":"https://search.dev.ndltd.org/etd/regina/oai:uregina.scholaris.ca:10294/14400","repository":{"repo_id":"regina","name":"University of Regina","base_url":"https://uregina.scholaris.ca/server/oai/request"},"display":{"title":"Pipe Inspection Automation with Mobile Ground Vehicles","abstract":"The goal of this research is to develop a series of mobile robotics projects for inspection of infrastructure to release humans of dirty, dangerous and dull tasks and give them more time to think and to create. To achieve this, one should consider the design of two different elements which are essential for the inspection of infrastructures like pipes, a locomotion unit and the way to control this locomotion unit and an imaging sensor in order to acquire information to make decisions. This is why three experiments are presented, 1) a robotic platform to scan pipes with collimated laser-lines in a go-stop fashion, 2) a robotic platform on a moving plane, which is the footing for the next project, since a prototype was made, and 3) the simulation of a robotic platform on top and bottom of a pipe. Experiments provide evidence that one can successfully improve the current robotic systems available on the market. This work thus shows that a mobile robotic inspection platform can be developed, which has a high probability to perform accurate inspection of steel pipes.","abstract_html":"The goal of this research is to develop a series of mobile robotics projects for inspection of infrastructure to release humans of dirty, dangerous and dull tasks and give them more time to think and to create. To achieve this, one should consider the design of two different elements which are essential for the inspection of infrastructures like pipes, a locomotion unit and the way to control this locomotion unit and an imaging sensor in order to acquire information to make decisions. This is why three experiments are presented, 1) a robotic platform to scan pipes with collimated laser-lines in a go-stop fashion, 2) a robotic platform on a moving plane, which is the footing for the next project, since a prototype was made, and 3) the simulation of a robotic platform on top and bottom of a pipe. Experiments provide evidence that one can successfully improve the current robotic systems available on the market. This work thus shows that a mobile robotic inspection platform can be developed, which has a high probability to perform accurate inspection of steel pipes.","abstract_has_math":false,"creators":["Echavarria, Juan"],"institution":"Faculty of Graduate Studies and Research, University of Regina","degree_name":"Master of Applied Science (MASc)","degree_level":"Master's","degree_discipline":"Engineering - Industrial Systems","degree_department":null,"school":null,"contributors":[],"advisors":["Mehrandezh, Mehran","Paranjape, Raman"],"committee_chairs":[],"committee_members":["Dai, Liming","Chan, Christine"],"year":2020,"date_issued":"2020-09","date_published":"2020-09","updated_at":"2026-07-24T04:03:50Z","subjects":[],"languages":["en"],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier.doi","label":"DOI","values":["https://doi.org/10.82465/5068"],"render_values":[{"text":"https://doi.org/10.82465/5068","href":"https://doi.org/10.82465/5068","code":true}]}]},"links":{"outbound_url":"https://hdl.handle.net/10294/14400","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["Mehrandezh, Mehran","Paranjape, Raman"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Dai, Liming","Chan, Christine"]},{"key":"dc:creator","label":"Author","values":["Echavarria, Juan"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2021-09-23T21:06:43Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2021-09-23T21:06:43Z"]},{"key":"dc:date.issued","label":"Date","values":["2020-09"]},{"key":"dc:publisher","label":"Institution","values":["Faculty of Graduate Studies and Research, University of Regina"]},{"key":"dc:type","label":"Dc Type","values":["master thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Engineering - Industrial Systems"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Master's"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Applied Science (MASc)"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Faculty of Graduate Studies and Research, University of Regina"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.doi","label":"DOI","values":["https://doi.org/10.82465/5068"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/10294/14400"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["A Thesis Submitted to the Faculty of Graduate Studies and Research In Partial Fulfillment of the Requirements for the Degree of Master of Applied Science in Industrial Systems Engineering, University of Regina. xiii, 113 p."]},{"key":"dc:description.abstract","label":"Abstract","values":["The goal of this research is to develop a series of mobile robotics projects for inspection of infrastructure to release humans of dirty, dangerous and dull tasks and give them more time to think and to create. To achieve this, one should consider the design of two different elements which are essential for the inspection of infrastructures like pipes, a locomotion unit and the way to control this locomotion unit and an imaging sensor in order to acquire information to make decisions. This is why three experiments are presented, 1) a robotic platform to scan pipes with collimated laser-lines in a go-stop fashion, 2) a robotic platform on a moving plane, which is the footing for the next project, since a prototype was made, and 3) the simulation of a robotic platform on top and bottom of a pipe. Experiments provide evidence that one can successfully improve the current robotic systems available on the market. This work thus shows that a mobile robotic inspection platform can be developed, which has a high probability to perform accurate inspection of steel pipes."]},{"key":"dc:title","label":"Title","values":["Pipe Inspection Automation with Mobile Ground Vehicles"]}]}],"canonical_facts":{"dc:contributor.advisor":["Mehrandezh, Mehran","Paranjape, Raman"],"dc:contributor.committeemember":["Dai, Liming","Chan, Christine"],"dc:creator":["Echavarria, Juan"],"dc:date.accessioned":["2021-09-23T21:06:43Z"],"dc:date.available":["2021-09-23T21:06:43Z"],"dc:date.issued":["2020-09"],"dc:description":["A Thesis Submitted to the Faculty of Graduate Studies and Research In Partial Fulfillment of the Requirements for the Degree of Master of Applied Science in Industrial Systems Engineering, University of Regina. xiii, 113 p."],"dc:description.abstract":["The goal of this research is to develop a series of mobile robotics projects for inspection of infrastructure to release humans of dirty, dangerous and dull tasks and give them more time to think and to create. To achieve this, one should consider the design of two different elements which are essential for the inspection of infrastructures like pipes, a locomotion unit and the way to control this locomotion unit and an imaging sensor in order to acquire information to make decisions. This is why three experiments are presented, 1) a robotic platform to scan pipes with collimated laser-lines in a go-stop fashion, 2) a robotic platform on a moving plane, which is the footing for the next project, since a prototype was made, and 3) the simulation of a robotic platform on top and bottom of a pipe. Experiments provide evidence that one can successfully improve the current robotic systems available on the market. 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