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51317--9741-Corrosion Detection Using Robotic Vehicles in Challenging Environments

Simulation shows that navigation algorithms can guide autonomous vehicles to inspect poles or towers for corrosion, or to inspect enclosed spaces. The algorithms use sensor feature extraction, PID control, dynamic window obstacle avoidance, and genetic algorithm solutions to the traveling-salesman problem.

Product Number: 51317--9741-SG
ISBN: 9741 2017 CP
Author: Thaddeus Roppel
Publication Date: 2017
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Several recent studies have indicated that dogs can be trained to detect corrosion. Based on our previous work with detection of drugs and explosives it is likely that the dogs are actually cueing on some ancillary volatile vapors dust or powder associated with the target environment. In any case the successful deployment of detection dogs and other animals has encouraged many researchers to attempt the design of electronic equipment that can mimic the sensory capability of the animal nose while providing a less costly detection system with the capability to record quantitative data for real-time display and off-line analysis.Such a system is sometimes referred to as an “electronic nose” or simply an “e-nose”. While much research remains to be done to improve the sensitivity of electronic sensors to match the animal nose our research focuses on developing autonomous mobile platforms that can drive themselves on rugged terrain while performing inspections in difficult areas such as remote utility right-of-ways or within power substations.We have previously demonstrated several small robots that successfully found their way to the source of a volatile vapor guided by multiple vapor sensors mounted onboard the robot. These studies were aimed at indoor leak detection. The present study seeks to extend the capability to outdoor environments over larger areas.It is anticipated that these robotic vehicles will be guided mainly by known site maps and be able to avoid obstacles in the process. Carrying corrosion-detecting sensors will allow the vehicle to home in on suspected areas of corrosion to perform more thorough data collection in highly suspect areas. The vehicles can provide live feed of video and/or still images as well as real-time data for display in a suitable format on a user interface which might be running on a console smart phone or tablet.

Key words: Corrosion, Robot, Inspection

 

 

Several recent studies have indicated that dogs can be trained to detect corrosion. Based on our previous work with detection of drugs and explosives it is likely that the dogs are actually cueing on some ancillary volatile vapors dust or powder associated with the target environment. In any case the successful deployment of detection dogs and other animals has encouraged many researchers to attempt the design of electronic equipment that can mimic the sensory capability of the animal nose while providing a less costly detection system with the capability to record quantitative data for real-time display and off-line analysis.Such a system is sometimes referred to as an “electronic nose” or simply an “e-nose”. While much research remains to be done to improve the sensitivity of electronic sensors to match the animal nose our research focuses on developing autonomous mobile platforms that can drive themselves on rugged terrain while performing inspections in difficult areas such as remote utility right-of-ways or within power substations.We have previously demonstrated several small robots that successfully found their way to the source of a volatile vapor guided by multiple vapor sensors mounted onboard the robot. These studies were aimed at indoor leak detection. The present study seeks to extend the capability to outdoor environments over larger areas.It is anticipated that these robotic vehicles will be guided mainly by known site maps and be able to avoid obstacles in the process. Carrying corrosion-detecting sensors will allow the vehicle to home in on suspected areas of corrosion to perform more thorough data collection in highly suspect areas. The vehicles can provide live feed of video and/or still images as well as real-time data for display in a suitable format on a user interface which might be running on a console smart phone or tablet.

Key words: Corrosion, Robot, Inspection

 

 

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