{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/19268"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/19268","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Robotic Platform for Internal Inspection","abstract":"This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations.","abstract_html":"This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations.","abstract_has_math":false,"creators":["Cope, Brian Alexander"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Wicks, Alfred L."],"committee_members":["Southward, Steve C.","Sandu, Corina"],"year":2013,"date_issued":"2013-02-08","date_published":"2013-02-08","updated_at":"2026-07-22T22:20:27Z","subjects":["Mobile Robot","NDE Inspection","Internal Inspection","Robotic Crawler"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:204"],"render_values":[{"text":"vt_gsexam:204","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/19268","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Wicks, Alfred L."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Southward, Steve C.","Sandu, Corina"]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Cope, Brian Alexander"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2013-02-19T22:44:24Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2013-02-19T22:44:24Z"]},{"key":"dc:date.issued","label":"Date","values":["2013-02-08"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Mobile Robot","NDE Inspection","Internal Inspection","Robotic Crawler"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:204"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/19268"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Robotic Platform for Internal Inspection"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Wicks, Alfred L."],"dc:contributor.committeemember":["Southward, Steve C.","Sandu, Corina"],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Cope, Brian Alexander"],"dc:date.accessioned":["2013-02-19T22:44:24Z"],"dc:date.available":["2013-02-19T22:44:24Z"],"dc:date.issued":["2013-02-08"],"dc:description.abstract":["This thesis describes the design of a robotic inspection tool which is based on a differential track-drive platform. The robotic inspection tool is a one man-portable UGV that has been developed for the purpose of non-destructive evaluation (NDE) and internal inspection of environments where human penetration may be difficult or hazardous. Various NDE and sensing techniques are described in this paper but the focus is on the mechanical and electrical design of the platform itself. The platform is a versatile device for mobile robotics research and development that supports a wide variety of instrumentation and payloads. Variable height control of the payload is achieved with a scissor lift assembly that provides accurate positioning of equipped sensors and instrumentation. The architecture of the platform was designed to support future autonomous implementations."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.other":["vt_gsexam:204"],"dc:identifier.uri":["http://hdl.handle.net/10919/19268"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Mobile Robot","NDE Inspection","Internal Inspection","Robotic Crawler"],"dc:title":["Robotic Platform for Internal Inspection"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:27Z"}