Wireless communication with mobile inspection robots while submerged inside oil storage tanks

Conference paper

Anvo, Richard, Kaur, Aman and Sattar, T. (2021). Wireless communication with mobile inspection robots while submerged inside oil storage tanks. Robotics for Sustainable Future - CLAWAR 2021. Kwansei Gakuin University (KGU), Takarazuka, Japan 30 Aug - 01 Sep 2021 Springer.
AuthorsAnvo, Richard, Kaur, Aman and Sattar, T.
TypeConference paper
Abstract

Data acquisition during storage tank inspection is one of the most important aspects for petrochemical storage tank owners. Mobile inspection robots designed to enter inside a storage tank without taking the tank out of service are required to enter through manholes on the roof of the tank with openings as small as 300-millimetre diameter. These robots are controlled via an umbilical cable which supplies power to the
robot, sends and receives signals to control robot motion, and transfers inspection data acquired by non-destructive testing (NDT) sensors back to NDT inspectors. It is important to localize a robot inside the tank so that NDT data indicating a defect such as corrosion pitting in tank floors or weld cracks can be mapped for subsequent monitoring and repair. Wireless communication with the robot for NDT data
acquisition and localization would enable the minimization of umbilical size and its effective management which is important when a small mobile robot is supplied with a very long umbilical.
This paper presents results of a study to develop a wireless
communication system that uses radio frequency (RF) signals with low power (<1W) sent by a transceiver on a robot operating inside an oil storage tank which travel through an oil medium, are transmitted through steel tank walls and are captured by receivers placed in air outside the tank. Simulations using Feko software have been performed to assess the feasibility of using RF for communication in oil
storage tanks with laboratory experiments conducted using vegetable oil to validate the simulations.
RF signals transmitted by a robot operating inside an oil tank and received by a number of receivers placed in air around the tank has potential application as a robot localization system.

KeywordsStorage tank inspection, EMW, NDT, In-service inspection
Year2021
PublisherSpringer
Accepted author manuscript
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Open
Publication dates
Print30 Aug 2021
Publication process dates
Accepted01 Sep 2021
Deposited05 Nov 2021
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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