Industrial inspection robots, which are to move around a nuclear power plant and carry out inspection tasks, must follow a given route while observing static and dynamic features of the environment. To fulfill the visual sensing requirements of such a robot for both a wide field of view to ensure safe motion and high resolution to enable precise observation, we have developed a stereo active vi...

Basically robots are designed in such way that they remove human intervention from labour intensive and hazardous work environment; sometimes they are also used to explore inaccessible work places which are generally impossible to access by humans. The inspection of pipe comes in same category because they carry toxic chemicals, fluids and most of the time has small internal diameter or bends w...

Pipe line inspection is an important task where robotics could be applied extensively. Robotic pipeline inspection devices reported in literature are primarily of internal type, requiring special preparation of pipelines for their deployment and retrieval. In this context, robotic systems which can traverse along the external surface of the pipeline structure have the advantage of being able to...

Industrial inspection robots, which are to move around a nuclear power plant and carry out inspection tasks, must follow a given route while observing static and dynamic features of the environment. The vision system for such a robot needs to execute efficiently and mutually the tasks that are necessary for carrying out inspection reliably and flexibly while safely moving, and the following att...

This paper presents the architecture used to develop a micro-robot for narrow pipes inspection. Both the electromechanical design and the control scheme will be described. In pipe environments it is very useful to have a method to retrieve information of the state of the inside part of the pipes in order to detect damages, breaks and holes. Due to the different types of pipes that exists, a mod...

This paper designs and develops an automatic detection system in the substation environment where complex and multi-inspecting objects exist. The inspection robot is able to fix and identify the objects quickly using a visual servo control system. This paper focuses on the analysis of fast lockup and recognition method of the substation instruments based on an improved Adaboost algorithm. The r...

This paper describes preliminary studies on a prototype robot for the inspection/maintenance of electrical power lines. Faulty insulators or abnormal objects can be detected before causing a failure in the distribution of electrical energy. The robot uses a statically stable variation of the brachistochrone motion to move along the power lines and overcome the standard obstacles present in the ...

Climbing robots are highly in need for catering the inspection of the high rise buildings. Climbing Robots has to work in challenging environments and has to maneuver vertically against gravity and orient towards the specified target by adapting to various surfaces. The proposed Wall Climbing Robot weighs 1 Kg , works with four active suction cups and driven with pneumatic supply cylinder drive...

This paper presents a shared autonomy control scheme for a quadcopter that is suited for inspection of vertical infrastructure — tall man-made structures such as streetlights, electricity poles or the exterior surfaces of buildings. Current approaches to inspection of such structures is slow, expensive, and potentially hazardous. Low-cost aerial platforms with an ability to hover now have suffi...