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.
Authors | Sattar, 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. |
Keywords | Climbing robot; dipole antenna; ground penetrating radar; Mobile robots; Robotic GPR |
Year | 2016 |
Journal | International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering |
Journal citation | 10 (8), pp. 1346-1352 |
Publisher | World Academy of Science, Engineering and Technology |
Publication dates | |
01 Aug 2016 | |
Publication process dates | |
Deposited | 28 Mar 2017 |
Accepted | 01 Jan 2016 |
Accepted author manuscript | License File Access Level Open |
https://openresearch.lsbu.ac.uk/item/872zv
Download files
Accepted author manuscript
Development-of-a-Wall-Climbing-Robotic-Ground-Penetrating-Radar-System-for-Inspection-of-Vertical-Concrete-Structures.pdf | ||
License: CC BY 4.0 | ||
File access level: Open |
90
total views135
total downloads2
views this month5
downloads this month
Export as
Related outputs
3D Gait Abnormality Detection Employing Contactless IR-UWB Sensing Phenomenon
Rana, S., Dey, M., Ghavami, M. and Dudley-McEvoy, S. (2021). 3D Gait Abnormality Detection Employing Contactless IR-UWB Sensing Phenomenon. IEEE Transactions on Instrumentation and Measurement.Developing Artefact Removal Algorithms to Process Data from a Microwave Imaging Device for Haemorrhagic Stroke Detection
Sohani, B., Puttock, J., Khalesi, B., Ghavami, N., Ghavami, M., Dudley-Mcevoy, S. and Tiberi, G. (2020). Developing Artefact Removal Algorithms to Process Data from a Microwave Imaging Device for Haemorrhagic Stroke Detection. Sensors. 20 (19), p. e5545. https://doi.org/10.3390/s20195545Single- and Multi-Distribution Dimensionality Reduction Approaches for a Better Data Structure Capturing
Hajderanj, L., Chen, D., Grisan, E. and Dudley-McEvoy, S (2020). Single- and Multi-Distribution Dimensionality Reduction Approaches for a Better Data Structure Capturing. IEEE Access. 8, pp. 207141 - 207155. https://doi.org/10.1109/ACCESS.2020.3038460Free space operating microwave imaging device for bone lesion detection: a phantom investigation
Khalesi, B., Sohani, B., Ghavami, N., Dudley-McEvoy, S., Ghavami, M. and Tiberi, G. (2020). Free space operating microwave imaging device for bone lesion detection: a phantom investigation. IEEE Antennas and Wireless Propagation Letters. https://doi.org/10.1109/LAWP.2020.3034039UWB Microwave Imaging for Inclusions Detection: Methodology for Comparing Artefact Removal Algorithms
Puttock, J, Sohani, B, Khalesi, B, Tiberi, G, Dudley-McEvoy, S and Ghavami, M (2020). UWB Microwave Imaging for Inclusions Detection: Methodology for Comparing Artefact Removal Algorithms. EAI BODYNETS 2020. Online 21 - 22 Oct 2020An Experimentally Validated Smart Card UHF Tag Antenna ForFree Space and Near Body Scenarios
Riaz, M., Ghavami, M. and Dudley-McEvoy, S. (2020). An Experimentally Validated Smart Card UHF Tag Antenna ForFree Space and Near Body Scenarios. IET Microwaves, Antennas and Propagation. 14 (13), pp. 1599-1609. https://doi.org/10.1049/iet-map.2019.0603A Non-Invasive Bone Fracture Monitoring Analysis using an UHF Antenna
Riaz, M, Tiberi, G, Asani, H, Ghavami, M and Dudley-McEvoy, S (2020). A Non-Invasive Bone Fracture Monitoring Analysis using an UHF Antenna. IEEE/IET International Symposium on Communication Systems, Networks and Digital Signal Processing. Porto 20 - 22 Jul 2020 Institute of Electrical and Electronics Engineers (IEEE).A Case Study Based Approach for Remote Fault Detection Using Multi-Level Machine Learning in A Smart Building
Dey, M, Rana, SP and Dudley, S (2020). A Case Study Based Approach for Remote Fault Detection Using Multi-Level Machine Learning in A Smart Building. Smart Cities. 3 (2), pp. 401-419. https://doi.org/10.3390/smartcities3020021SIRCAUR: Safe inspection of reinforced concrete structures by autonomous robot
Garrido, GG, Dissanayake, M, Sattar, T, Plastropoulos, A and Hashim, M (2020). SIRCAUR: Safe inspection of reinforced concrete structures by autonomous robot. CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Moscow 24 - 26 Aug 2020 https://doi.org/10.13180/clawar.2020.24-26.08.id#Design and parametric investigations of permanent magnet adhesion mechanism for robots climbing on reinforced concrete walls
Tokhi, MO and Sattar, TP (2020). Design and parametric investigations of permanent magnet adhesion mechanism for robots climbing on reinforced concrete walls. CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines,. Moscow 24 - 26 Aug 2020Detection of haemorrhagic stroke in simulation and realistic 3-D human head phantom using microwave imaging
Sohani, B, Khalesi, B, Ghavami, N, Ghavami, M, Dudley-McEvoy, S, Rahimi, A and Tiberi, G (2020). Detection of haemorrhagic stroke in simulation and realistic 3-D human head phantom using microwave imaging. Biomedical Signal Processing and Control. 61, p. 102001. https://doi.org/10.1016/j.bspc.2020.102001Royal Society Summer Science Exhibition "Robot Detectives: Sherlock Holmes meets Spiderman"
Sattar, T (2019). Royal Society Summer Science Exhibition "Robot Detectives: Sherlock Holmes meets Spiderman".Robot Detectives: Sherlock Homes meets Spiderman
Sattar, T (2019). Robot Detectives: Sherlock Homes meets Spiderman. ICC Excel Centre, London 10 - 12 Mar 2011Development of an automated mobile robot vehicle inspection system for ndtof large steel plates
Rakocevic, M, Wang, X, Chen, S, Khalid, A, Sattar, T and Bridge, B (1999). Development of an automated mobile robot vehicle inspection system for ndtof large steel plates. Insight. 41 (6), pp. 376-382.Development of CLAWAR Systems that combine the functions of Monitoring, Mobility, Manipulation and Measurement for Industrial Inspection Tasks
Sattar, TP, Bridge, B, Chen, S and Zhao, Z (2003). Development of CLAWAR Systems that combine the functions of Monitoring, Mobility, Manipulation and Measurement for Industrial Inspection Tasks. 6th International Conference on Climbing and Walking Robots and their Supporting Technologies, CLAWAR 2003. Catania, Italy 17 - 19 Sep 2003 Professional Engineering Publishing Ltd, UK. pp. 699-706PDA Depth Control of a FPSO Swimming Robot
Shang, J, Sattar, TP and Leon-Rodriguez, HE (2006). PDA Depth Control of a FPSO Swimming Robot. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 541-544Design of a Climbing Robot for Inspecting Aircraft Wings and Fuselage
Shang, J, Sattar, TP and Leon-Rodriguez, HE (2006). Design of a Climbing Robot for Inspecting Aircraft Wings and Fuselage. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 552-557Portable 7 DOF Scanning Arm For Non-destructive Inspection Of Objects With Unknown Geometry
Sattar, TP and Brenner, A (2006). Portable 7 DOF Scanning Arm For Non-destructive Inspection Of Objects With Unknown Geometry. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 527-532Wall Climbing And Pipe Crawler Robots For Nozzle Weld Inspection Inside Nuclear Pressure Vessels
Leon-Rodriguez, HE, Sattar, T, Shang, J, Bouloubasis, AK and Markopoulos, YP (2006). Wall Climbing And Pipe Crawler Robots For Nozzle Weld Inspection Inside Nuclear Pressure Vessels. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 545-551Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot
Sattar, TP, Zhao, Z, Feng, J, Bridge, B, Mondal, S and Chen, S (2002). Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot. 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Paris, France 25 - 27 Sep 2002 pp. 947-954Tofd inspection of v-groove butt welds on the hull of a container ship with a magnetically adhering wall climbing robot
Mondal, S, Sattar, TP and Bridge, B (2002). Tofd inspection of v-groove butt welds on the hull of a container ship with a magnetically adhering wall climbing robot. 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Paris, France 25 - 27 Sep 2002 pp. 955-961ROBAIR: Mobile Robotic System to Inspect Aircraft Wings and Fuselage
Sattar, TP, Chen, S, Bridge, B and Shang, J (2003). ROBAIR: Mobile Robotic System to Inspect Aircraft Wings and Fuselage. Robotics and Factories of the Future. 2, pp. 795-802.The Centre for Automated and Robotic Non-Destructive Testing
Sattar, TP and Bridge, B (2005). The Centre for Automated and Robotic Non-Destructive Testing. CLAWAR Newsletter, GROWTH Thematic Network on Climbing and Walking Robotics: Mobile robotic demonstrators and applications.7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry
Sattar, TP and Brenner, A (2005). 7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005). London South Bank University, London, UK 12 - 15 Sep 2005 Springer. pp. 943-950 https://doi.org/10.1007/3-540-26415-9-113Automated NDT of floating production storage oil tanks with a swimming and climbing robot
Sattar, TP, Rodriguez, H, Shang, J and Bridge, B (2006). Automated NDT of floating production storage oil tanks with a swimming and climbing robot. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005). London South Bank University, London, UK 12 - 15 Sep 2005 Springer. pp. 935-942 https://doi.org/https://www.doi.org/10.1007/3-540-26415-9-112Amphibious Robot For Weld Inspection Inside Floating Production Oil Storage Tanks
Sattar, TP, Leon-Rodriguez, HE, Shang, J, Gan, T and Lagonikas, A (2006). Amphibious Robot For Weld Inspection Inside Floating Production Oil Storage Tanks. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 533-540Climbing ring robot for inspection of offshore wind turbines
Rodriguez, HL, Bridge, B and Sattar, TP (2008). Climbing ring robot for inspection of offshore wind turbines. in: Marques, L, de Almeida, A, Tokhi, MO and Virk, GS (ed.) Advances in Mobile Robotics World Scientific Publishing Co. pp. 555-562Robotic non-destructive testing
Sattar, TP (2010). Robotic non-destructive testing. Industrial Robot: An International Journal. 37 (5). https://doi.org/10.1108/ir.2010.04937eaa.002Towards Optimum Design Of Magnetic Adhesion Wall Climbing Wheeled Robots
Sattar, T, Salman, H and Salinas, E (2011). Towards Optimum Design Of Magnetic Adhesion Wall Climbing Wheeled Robots. Khan, KM and Win, NL (ed.) 26th International Conference on CAD/CAM, Robotics and Factories of the Future 2011. Kuala Lumpur, Malaysia 26 - 28 Jul 2011 pp. 716-728An ICT-Enabled Approach to Optimising the Reliability of Manual Ultrasonic Non-Destructive Testing
Bennecer, A, Selcuk, C, Gan, TH, Sattar, TP, Edwards, G, Girolami, M, Chatzakos, A and Lopatka, R (2012). An ICT-Enabled Approach to Optimising the Reliability of Manual Ultrasonic Non-Destructive Testing. BINDT Aerospace Symposium. Northamptonshire, UK 11 - 13 Sep 2012Disseminating mechatronics research results (via science and engineering exhibitions)
Sattar, T and Salinas, E (2014). Disseminating mechatronics research results (via science and engineering exhibitions). 15th International Workshop on Research and Education in Mechatronics (REM). El Gouna, Egypt 09 - 11 Sep 2014 pp. 1-7 https://doi.org/https://www.doi.org/10.1109/REM.2014.6920236Underwater wall climbing robot for nuclear pressure vessel inspection
Rodriguez, H, Sattar, T and Shang, J (2008). Underwater wall climbing robot for nuclear pressure vessel inspection. 2008 International Conference on Climbing and Walking Robots. Coimbra, Portugal 05 - 08 Sep 2008 World Scientific. pp. 605-612Robotic system for inspection of test objects with unknown geometry using NDT methods
Brenner, AA and Sattar, TP (2008). Robotic system for inspection of test objects with unknown geometry using NDT methods. 11th International Comference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Coimbra, Portugal 08 - 10 Sep 2008 pp. 589-596Distributed mobile robots
Sattar, T, Patel, T and Rodriguez, HL (2010). Distributed mobile robots. 13th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Machines. Japan 31 Aug - 03 Sep 2010 pp. 106-114A Phantom Investigation to Quantify Huygens Principle Based Microwave Imaging for Bone Lesion Detection < Return to the previous page
Khalesi, B., Sohani, B., Ghavami, N., Ghavami, M., Dudley-Mcevoy, S. and Tiberi, G. (2019). A Phantom Investigation to Quantify Huygens Principle Based Microwave Imaging for Bone Lesion Detection < Return to the previous page. Electronics. 8 (12), p. 1505. https://doi.org/10.3390/electronics8121505Identification of Fatigue Damage Evaluation using Entropy of Acoustic Emission Waveform
Santo, F., Sattar, T., Mba, D. and Edwards, G. (2019). Identification of Fatigue Damage Evaluation using Entropy of Acoustic Emission Waveform. SN Applied Sciences. 2 (138). https://doi.org/10.1007/s42452-019-1694-7Validation of Acoustic Emission Waveform Entropy as a Damage Identification Feature
Santo, F., Sattar, T. and Edwards, G. (2019). Validation of Acoustic Emission Waveform Entropy as a Damage Identification Feature. Applied Sciences MDPI. 9 (4070), p. 27. https://doi.org/10.3390/app9194070Experimental and Numerical Optimization of Magnetic Adhesion Force for Wall Climbing Robot Applications
Sahbel, A., Abbas, A and Sattar, T (2019). Experimental and Numerical Optimization of Magnetic Adhesion Force for Wall Climbing Robot Applications. International Journal of Mechanical Engineering and Robotics Research. 8 (1), pp. 18-24. https://doi.org/10.18178/ijmerr.8.1.18-24Signature Inspired Home Environments Monitoring System using IRUWB Technology
Dudley, S, Rana, S., Dey, M and Ghavami, M (2019). Signature Inspired Home Environments Monitoring System using IRUWB Technology. MPDI Sensors. 19 (2), p. 385. https://doi.org/10.3390/s19020385