Sircaur: Safe Inspection Of Reinforced Concrete Structures By Autonomous Robot
Garrido, G.G., Dissanayake, D., 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, Russian Federation 24 - 26 Aug 2020 CLAWAR Association.
|Authors||Garrido, G.G., Dissanayake, D., Sattar, T., Plastropoulos, A. and Hashim, M.|
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 non-contact 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.
|Keywords||Climbing robots; NDT of concrete structures; Adhesion to reinforcement bars using permanent magnets|
|Web address (URL)||https://doi.org/10.13180/clawar.2020.24-26.08.id#|
|Accepted author manuscript|
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File Access Level
|24 Aug 2020|
|Publication process dates|
|Accepted||24 Jul 2020|
|Deposited||21 Sep 2021|
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