Pipe Inspection Automation with Mobile Ground Vehicles

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.

Name thesis:degree_name

Master of Applied Science (MASc)

Level thesis:degree_level

Master's

Discipline thesis:degree_discipline

Engineering - Industrial Systems

Grantor dc:publisher

Faculty of Graduate Studies and Research, University of Regina

Year dc:date.issued

2020

Author dc:creator

• Echavarria, Juan

Advisors dc:contributor.advisor

• Mehrandezh, Mehran
• Paranjape, Raman

Committee members dc:contributor.committeemember

• Dai, Liming
• Chan, Christine

Language dc:language.iso

en

DOI

https://doi.org/10.82465/5068

OAI identifier oai:identifier

oai:uregina.scholaris.ca:10294/14400