SIRCAUR: Safe inspection of reinforced concrete structures by autonomous robot

Conference paper

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#
AuthorsGarrido, GG, Dissanayake, M, Sattar, T, Plastropoulos, A and Hashim, M
TypeConference paper
Abstract

Designing climbing robots for industrial applications, has been proven to be an egg and chicken problem.
The more the payload the more adhesion force needed. In order to move a robot upwards with such a force,
motors with bigger torque are required and thus, increasing the payload. Similarly, increasing the adhesion
force is likely to increase the payload. This paper presents an improved climbing robot specifically designed
to climb on structures with 30~35mm of reinforced concrete (R/C) cover, while deploying a precision noncontact
GPR sensor for the detection of rebar corrosion and related defects. Furthermore, it carries a system
for visual inspection and detection of concrete cover deterioration. It works autonomously under UWB
controlled trajectories, adjustable by GPR sensor feedback for avoidance of rebar-poor regions. The
inspection NDT data is transmitted wirelessly to a ground-based CPU for processing and monitoring.

Year2020
Digital Object Identifier (DOI)https://doi.org/10.13180/clawar.2020.24-26.08.id#
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Print24 Aug 2020
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Accepted22 May 2020
Deposited09 Jun 2020
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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). https://doi.org/10.1049/ic.2016.0040
Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures
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.
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.
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. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
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