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
PublisherWorld Academy of Science, Engineering and Technology
Publication dates
Print01 Aug 2016
Publication process dates
Deposited28 Mar 2017
Accepted01 Jan 2016
Accepted author manuscript
License
CC BY 4.0
File Access Level
Open
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Sattar, TP (2017). Robotics for Inspection and Decommissioning of Nuclear Power Plant. Presentation to Integrity Management Group, TWI Ltd, Cambridge. Cambridge 08 Feb 2017
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. 141, pp. 134-141.
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.
Reciprocating compressor prognostics
Loukopoulos, P, Sampath, S, Plidis, P, Zolkiewski, G, Bennett, I, Duan, F, Sattar, TP and Mba, D (2017). Reciprocating compressor prognostics. CMSM 2017 7th International Congress Design and Modelling of Mechanical Systems. Hammamet, Tunisia 27 - 29 Mar 2017
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 Institute of Electrical and Electronics Engineers (IEEE).
Unsupervised Learning Techniques for HVAC Terminal Unit Behaviour Analysis
Dey, M, Gupta, M, Turkey, M and Dudley, S (2017). Unsupervised Learning Techniques for HVAC Terminal Unit Behaviour Analysis. IEEE International Conference on Smart City Innovations. Fremont, California, USA 04 - 08 Aug 2017 Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/UIC-ATC.2017.8397584
Plenary keynote: Monitoring Safety Critical Infrastructure with Mobile Robots
Sattar, T. (2017). Plenary keynote: Monitoring Safety Critical Infrastructure with Mobile Robots. Silva, M, Virk, GS, Tokhi, MO, Malheiro, B, Guedes, P and Ferreira, P (ed.) 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 Singapore World Scientific Publishing Co. Pte. Ltd. pp. 9-9 doi:10.1142/9789813231047_0004
Development of a novel crawler based robot for mooring chain climbing
Dissanayake, M, Howlader, MOF, Sattar, TP, Gan, T and Pinson, I (2017). Development of a novel crawler based robot for mooring chain climbing. 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR). Porto, Portugal 11 - 13 Sep 2017 Singapore World Scientific Publishing Co.
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
Climbing Robots for NDT Applications
Al Rashed, M, Kimball, M, Vega, L, Vera, D, Soler, J, Correa, M, Garcia, A, Virk, GS and Sattar, TP (2017). Climbing Robots for NDT Applications. 20th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines, CLAWAR 2017. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing Co. doi:10.1142/9789813231047_0036
UWB Localization Employing Supervised Learning Method
Rana, S., Dey, M., Siddiqui, H., Tiberi, G., Ghavami, M. and Dudley, S (2017). UWB Localization Employing Supervised Learning Method. IEEE International Conference on Ubiquitous Wireless Broadband 2017. Salamanca, Spain 12 - 15 Sep 2017 Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICUWB.2017.8250971
Integration and management of solar energy for electric vehicle charging station
Khan, A, Memon, S and Sattar, TP (2017). Integration and management of solar energy for electric vehicle charging station. Solar World Congress 2017 - Innovation for the 100% renewable energy transformation. Abu Dhabi, UAE 29 Oct - 02 Nov 2017
Non-Destructive Testing Robot Applications in Hazardous Environments
Sattar, TP (2017). Non-Destructive Testing Robot Applications in Hazardous Environments. Robots in Society: Current Robotics. London South Bank University, London 08 Nov 2017
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 Institute of Electrical and Electronics Engineers (IEEE).
Reciprocating compressor prognostics of an instantaneous failure mode utilising temperature only measurements
Loukopoulos, P, Zolkiewski, G, Bennet, I, Sampath, S, Pilidis, P, Duan, F, Sattar, TP and Mba, D (2017). Reciprocating compressor prognostics of an instantaneous failure mode utilising temperature only measurements. Applied Acoustics. 147, pp. 77-86.
Tracked-wheel crawler robot for vertically aligned mooring chain climbing design:simulation and validation of a climbing robot for mooring chain
Dissanayake, M, Sattar, T, Howlader, O, Pinson, I and Gan, T-H (2017). Tracked-wheel crawler robot for vertically aligned mooring chain climbing design:simulation and validation of a climbing robot for mooring chain. IEEE International Conference on Industrial and Information Systems (ICIIS). Peradeniya, Sri Lanka 15 - 16 Dec 2017 IEEE. doi:10.1109/ICIINFS.2017.8300423
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.
Adaptive robust video broadcast via satellite
Altaf, M, Khan, FA, Khan, N, Ghanbari, M and Dudley, S (2016). Adaptive robust video broadcast via satellite. Multimedia Tools and Applications. 76 (6), pp. 7785-7801.
Miniaturized dipole antenna development for low frequency ground penetrating radar (GPR) system
Howlader, OF and Sattar, TP (2016). Miniaturized dipole antenna development for low frequency ground penetrating radar (GPR) system. IET Colloquium on Antennas, Wireless and Electromagnetics. Glasgow, Scotland 26 - 26 May 2016 Institute of Engineering and Technology (IET). doi:10.1049/ic.2016.0040
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 Institute of Electrical and Electronics Engineers (IEEE).
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 Institute of Electrical and Electronics Engineers (IEEE).
Iterated Local Search Algorithm for Clustering Wireless Sensor Networks.
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 Institute of Electrical and Electronics Engineers (IEEE). 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 doi:10.1007/978-3-319-31204-0_17
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 World Scientific Publishing Co.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
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 Institute of Electrical and Electronics Engineers (IEEE). pp. 532-537 doi:10.1109/ICMIC.2016.7804170
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.
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