Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures

Journal article


Sattar, TP, Howlader, MOF and Dudley, S (2016). Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering. 10 (8), pp. 1346-1352.
AuthorsSattar, TP, Howlader, MOF and Dudley, S
Abstract

This paper describes the design process of a 200 MHz Ground Penetrating Radar (GPR) and a battery powered concrete vertical concrete surface climbing mobile robot. The key design feature is a miniaturized 200 MHz dipole antenna using additional radiating arms and procedure records a reduction of 40% in length compared to a conventional antenna. The antenna set is mounted in front of the robot using a servo mechanism for folding and unfolding purposes. The robot’s adhesion mechanism to climb the reinforced concrete wall is based on neodymium permanent magnets arranged in a unique combination to concentrate and maximize the magnetic flux to provide sufficient adhesion force for GPR installation. The experiments demonstrated the robot’s capability of climbing reinforced concrete wall carrying the attached prototype GPR system and perform floor-to-wall transition and vice versa. The developed GPR’s performance is validated by its capability of detecting and localizing an aluminium sheet and a reinforcement bar (rebar) of 12 mm diameter buried under a test rig built of wood to mimic the concrete structure environment. The present robotic GPR system proves the concept of feasibility of undertaking inspection procedure on large concrete structures in hazardous environments that may not be accessible to human inspectors.

KeywordsClimbing robot; dipole antenna; ground penetrating radar; Mobile robots; Robotic GPR
Year2016
JournalInternational Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering
Journal citation10 (8), pp. 1346-1352
PublisherLondon South Bank University
Publication dates
Print01 Aug 2016
Publication process dates
Deposited28 Mar 2017
Accepted01 Jan 2016
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Dudley, S, Oladimeji, MO and Turkey, M (2016). Iterated Local Search Algorithm for Clustering Wireless Sensor Networks. 2016 IEEE Congress on Evolutionary Computation (CEC). Vancouver, Canada 24 - 29 Jul 2016 London South Bank University. doi:10.1109/CEC.2016.7744200
A heuristic crossover enhanced evolutionary algorithm for clustering wireless sensor network
Oladimeji, MO, Turkey, M and Dudley, S (2016). A heuristic crossover enhanced evolutionary algorithm for clustering wireless sensor network. EvoApplications Evostar 2016. Porto, Portugal 30 Mar - 01 Apr 2016 London South Bank University. doi:10.1007/978-3-319-31204-0_17
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602.
A novel single-phase thirteen level inverter for photovoltaic application
Loukriz, A, Dudley, S, Messalti, S, Quinlan, T, Loukriz, A and Walker, S (2016). A novel single-phase thirteen level inverter for photovoltaic application. 8th International Conference on Modelling, Identification and Control (ICMIC-2016). Algiers, Algeria- November 15-17, 2016 15 - 17 Nov 2016 London South Bank University. pp. 532-537 doi:10.1109/ICMIC.2016.7804170
Experimental Validation of a Thirteen Level H-Bridge Photovoltaic Inverter Configuration
Dudley, S, Loukriz, A and Quinlan, T (2017). Experimental Validation of a Thirteen Level H-Bridge Photovoltaic Inverter Configuration. IEEE EEEIC17 and I&CPS Europe. Milan, Italy 06 - 09 Jun 2017 London South Bank University.
Non-destructive testing robots (NDTBOTS) for in-service storage tank inspection
Anvo, R, Sattar, TP, Gan, T and Pinson, I (2017). Non-destructive testing robots (NDTBOTS) for in-service storage tank inspection. Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR). Porto Polytechnic, Portugal 11 - 13 Sep 2017
Miniaturization of Dipole Antenna for Low Frequency Ground Penetrating Radar
Howlader, MOF and Sattar, TP (2016). Miniaturization of Dipole Antenna for Low Frequency Ground Penetrating Radar. Progress In Electromagnetics Research C (PIER C). 61, pp. 161-170.
HACH: Heuristic Algorithm for Clustering Hierarchy Protocol in Wireless Sensor Network
Dudley, S, Turkey, M and Oladimeji, MO (2017). HACH: Heuristic Algorithm for Clustering Hierarchy Protocol in Wireless Sensor Network. Applied Soft Computing.
Automated Peripheral Neuropathy Assessment using Optical Imaging and Foot Anthropometry
Dudley, S, Siddiqui, H, Alty, SR and Spruce, M (2015). Automated Peripheral Neuropathy Assessment using Optical Imaging and Foot Anthropometry. IEEE Transactions on Biomedical Engineering. 62 (8), pp. 1911-1917.
Automated Semmes Weinstein monofilament examination replication using optical imaging and mechanical probe assembly
Dudley, S, Siddiqui, H, Alty, SR and Spruce, M (2015). Automated Semmes Weinstein monofilament examination replication using optical imaging and mechanical probe assembly. 12th International Symposium on Biomedical Imaging (ISBI). Brooklyn, USA 16 - 19 Apr 2015 London South Bank University. doi:10.1109/ISBI.2015.7163933
Occupancy Based Household Energy Disaggregation using Ultra Wideband Radar and Electrical Signature Profiles
Brown, R, Ghavami, N, Siddiqui, H, Adjrad, M, Ghavami, M and Dudley, S (2017). Occupancy Based Household Energy Disaggregation using Ultra Wideband Radar and Electrical Signature Profiles. Energy and Buildings.
A semantic-enhanced trajectory visual analytics for digital forensic.
Liao, Z, Li, Y, Peng, Y, Zhao, Y, Zhou, F, Liao, Z, Dudley, S and Ghavami, M (2015). A semantic-enhanced trajectory visual analytics for digital forensic. Journal of Visualization. 18 (2), pp. 173 - 184.
Experimental vital signs estimation using commercially available IR-UWB radar
Adjrad, M, Dudley, S and Ghavami, M (2014). Experimental vital signs estimation using commercially available IR-UWB radar. Radar Conference. Lille 13 - 17 Oct 2014 IEEE. doi:10.1109/RADAR.2014.7060328
A user-centric system architecture for residential energy consumption reduction
Vastardis, N, Adjrad, M, Buchanan, K, Liao, Z, Koch, C, Russo, R, Yang, K, Ghavami, M, Anderson, B and Dudley, S (2014). A user-centric system architecture for residential energy consumption reduction. IEEE Online Conference on Green Communications. Online 12 - 14 Nov 2014 London South Bank University. pp. 1-7 doi:10.1109/OnlineGreenCom.2014.7114423
Human Behaviour Model Combining Multiple Sensors
Liao, Z, Buchanan, K, Ghavami, N, Vastardis, N, Adjrad, M, Koch, C, Ghavami, M, Anderson, B, Yang, K, Russo, R and Dudley, S (2015). Human Behaviour Model Combining Multiple Sensors. Conference of the eceee 2015 Summer Study on energy efficiency. Presqu’île de Giens Toulon/Hyères, France 01 - 06 Jun 2015 London South Bank University.
A new approach for event detection using k-means clustering and neural networks.
Oladimeji, MO, Turkey, M, Ghavami, M and Dudley, S (2015). A new approach for event detection using k-means clustering and neural networks. 2015 International Joint Conference on Neural Networks (IJCNN). Killarney IEEE. pp. 1 - 5 doi:10.1109/IJCNN.2015.7280752
A PID Inspired Feature Extraction for HVAC Terminal Units
Dey, M, Gupta, M, Rana, S., Turkey, M and Dudley, S (2017). A PID Inspired Feature Extraction for HVAC Terminal Units. IEEE Conference on Technologies for Sustainability (SusTech 2017). Phoenix, Arizona, USA 12 - 14 Nov 2017 London South Bank University.
Huygens Principle based UWB Microwave Imaging Method for Skin Cancer Detection
Ghavami, N, Tiberi, G, Ghavami, M, Dudley, S and Lane, ME (2016). Huygens Principle based UWB Microwave Imaging Method for Skin Cancer Detection. 10th IEEE/IET International Symposium on Communication Systems, Networks and Digital Signal Processing. Prague, Czech Republic 20 - 22 Jul 2016 London South Bank University.
Experimental Realization of a Single-Phase Five Level Inverter for PV Applications
Loukriz, A, Dudley, S, Quinlan, T and Walker, S (2016). Experimental Realization of a Single-Phase Five Level Inverter for PV Applications. IEEE Workshop on Control and Modeling for Power Electronics (COMPEL) 2016. Trondheim, Norway 27 - 30 Jun 2016 London South Bank University.
Deployment of laser cutting head with wall climbing robot for nuclear decommissioning
Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 London South Bank University.
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012